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WiRobot DRK6080/8080 USER MANUAL

1. Desconemcted Figure II 4 Choosing COM Port Connection 6 Configure the COM port with the setting 115200 8 N 1 Hardware and turn on Send line ends with line feeds under Properties gt Settings gt ASCII Setup 21x ail Pot Settings z m ASCII Sending IV Send line ends with line feeds Bits per second JAKET z Echo typed characters locally GE ER Line delay 0 milliseconds Character delay fo milliseconds Parity None x Stop bits fi 7 m ASCII Receiving J Append line feeds to incoming line ends Flow control Hardware e Force incoming data to 7 bit ASCII JM Wrap lines that exceed terminal width Restore Defaults Cancel Figure II 5 COM Port Setting Copyright Dr Robot Inc 2005 85 JA Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 7 The lower left corner of the hyper terminal will show the connection status If the hyper terminal is still not connected click the connect icon on the hyper terminal to establish the connection don t turn on the PMB5010 yet 8 Choose Transfer gt Send Text File from the toolbar and set files of type to ALL Locate the PMB5010 firmware HEX file only by HIGHLIGHTING the file e g robot hex Please make sure that you DON T double click the file or click the Open button Sends a text file to the remote sy
2. Figure L COM Port Setting 7 The lower left corner of the hyper terminal will show the connection status If the hyper terminal is still not connected click the connect icon on the hyper terminal to establish the connection don t turn on the PMS5005 yet 8 Choose Transfer gt Send Text File from the toolbar and set files of type to ALL Locate the PMS5005 firmware HEX file only by HIGHLIGHTING the file e g PMS5005 vll dri Please make sure that you DON T double click the file or click the Open button Sends a text fle to the remote system Copyright Dr Robot Inc 2005 77 o Er Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Send Text File d x Look in SJ PMS5005 Upgrade sl EIrz ES Type DRI File Size 78 0 KB My Network P File name JPms5005_110 ai DI Files of type Jan files DI Cancel Z Figure 1 8 Locating the HEX File 9 Please read step 10 13 ahead before turning on the PMS5005 in this step 10 After you turn on the PMS5005 by connecting power to the system power you should see the text c 2000 2001 Motorola Inc S Record loader Version 1 1 in the hyper terminal as shown in the following figure fie EK Wew Col Tromcfer Hep Giel alal el c 2000 2001 Motorola Inc S Record loader Version 1 1 ST rx Lookin Sy WAicbolP MSSODEF amare pipade
3. IIl 2 2 Running as Part of WiRobot System When using the MDM5253 with the WiRobot system users simply plug the module onto one of the DC motor drive expansion connector sets on the PMS5005 Sensing and Motion Controller board maximum of 2 MDM5253 modules are supported and the PMS5005 on board firmware and device driver will take care of the motor control and sensing feedback Since PMS5005 can support 2 MDM5e53 it is able to connect and control up to 6 DC motors and have 6 position sensor channels POT1 POT6 Users have an option to use single rotary sensor e g MRS3302 on the Position Sensor Connector dual rotary sensor e g 2 MRS3302 on 2 Position Sensor Connectors or single encoder Encoder port on PMS5005 as the feedback device to control each DC motor if needed PMS5005 already has built in DC motor control schemes and users simply need to select the type of the feedback device for each DC motor Note that for single rotary sensor setting DC motor 1 must use POT1 DC motor 2 must use POT2 and etc for dual rotary sensor setting DC motor 1 must use POT1 and POT6 DC motor 2 must use POT2 and POTS and DC motor 3 must use POT3 and POTH for encoder setting DC motor 1 must use ENCODER and DC motor 2 must use ENCODER2 Copyright Dr Robot Inc 2005 89 Yan Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 By working with the PMS5005 users can sim
4. Flow OO Port No 10001 ConnectMode CO 25 104 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Hostlist No Entry Change Hostlist N Y OL IP address 000 172 000 19 000 0 000 1 Port O 23 O2 IP address 000 172 000 19 000 0 000 2 Port 0 3001 03 IP address 000 172 000 19 000 0 000 3 Port 0 710001 OL IP address 000 000 000 000 Hostlist OL IP 172 019 000 001 Port 00023 O2 IP 172 019 000 002 Port 03001 03 IP 172 019 000 003 Port 10001 Change Hostlist N N Hostlist Retrycounter 3 Hostlist Retrytimeout 250 DisConnMode OO FlushMode OO DisConnTime 00 00 SendChar 1 OO SendChar 2 00 To enable the hostlist l Enter a Connect Mode of Ox20 The menu shows a list of current entries already defined in the product 2 To delete modify or add an entry select Yes If entering an IP address of 0 0 0 0 that entry and all others after it are deleted 3 After completing the hostlist repeat the previous step if necessary to edit the hostlist again 4 For Retrycounter enter the number of times the Lantronix unit should try to make a good network connection to a hostlist entry that it has successfully ARPed The range is 1 15 with the default set to 3 5 For Retrytimeout enter the number of seconds the unit should wait before failing an attemp
5. The host list supports a minimum of 1 and a maximum of l2 entries Each entry contains an IP address and a port number Note The host list is disabled for Manual and Modem Mode The unit will not accept a data connection from a remote device when the hostlist option is enabled To configure the WFS80eb s host list l From the main menu click the Hostlist tab Figure IV 4 Hostlist Settings E Dr Robot WiFi Module Device Server Microsoft Internet Explorer ioj x File Edit View Favorites Tools Help Back gt O A A Reach Favorites Meda 3 Sy he a adress E eisen cet O Dr Robot Firmware Version 5 8 0 1 tt Network _ Server Serial Tunnel stlist Configurable Pins Apply Settings Apply Factory Defaults MAC Address 00 20 4A 82 E6 84 Hostlist Settings Retry Settings Retry Counter 3 Retry Timeout 250 Host Information Host Address Port No Host Address Port fi92 168 0 50 5000 2 fi92 168 0 51 kon pooo Rouh fo ooo fp eh fe ooo fp buu pooo pooo p w aana kr 1 foooo p a poo oo ox 2 Enter or modify the following fields from the Hostlist Settings window Retry Settings Retry Counter Enter the value for the number of times the WFS802b should attempt to retry connecting to the host list Retry Timeout Enter the duration in seconds the WFS80e2b should abandon attempting a connection to the host list Host Information Ho
6. 2 4 V 2mA Low level Output Current VCC 3 3V VOL 2 2 mA o 4v High level Output Current VCC 3 3V VOH 3 1 mA 2 4V Board Size 30 x 4O mm X mm Copyright Dr Robot Inc 2005 130 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 VI MAC5310 Audio Codec and Audio Power Amplifier Module VILL Introduction The MAC5310 Audio Codec and Audio Power Amplifier Module can be used as audio input output interface in the WiRobot system by plugging into the PMB5010 Multimedia Controller board The on board codec provides high resolution signal conversion from digital to analog D A and from analog to digital A D using over sampling sigma delta technology With the on board audio output power amplifier and the microphone preamp in the codec the external speaker and microphone can be directly connected to the MAC5310 board V1 1 1 Features 16 bit over sampling sigma delta A D D A converter Maximum output conversion rate J 16 ksps with on chip FIR filter SL ksps with FIR bypassed Codec built in FIR produces 84 db SNR for ADC and 85 db SNR for DAC over 11 kHz BW es complement data format Codec built in functions including PGA anti aliasing analog filter and operational amplifiers for general purpose interface such as MIC interface and hybrid interface On board audio output power amplifier can support up to 1 5 W power to the external speaker
7. Mal Lemrtevelreotecher gege aa aaa aan agan aana pa na den aaa aaa AN Nagan NANA aA Nan AKAN Haaa Eai Chapter IV WiRobot Module esseserenenaennaa anana wanen a nenen en nana nn nenen nane nagane nana nn nana nen na nanang nee ne nn ena naen PMS5005 Sensing and Motion Controller ee 1 1 Introduction k2 e e 1 3 Procedure to upgrade the PMS5005 firmware saaaasana naen anana anana anana aana aana anana nana a ana PMB5010 Multimedia Controller IL Introduction Iie ee EE I 3 Procedure to upgrade the PMB5010 firmware sasasaea anana aana n anana anana nana anana anna nanem anana MDM5e53 DC Motor Driver Module with Position and Current Feedback ue 88 US WE lee ten d EE 88 TIVE ee 88 ME Wee EEN 90 IS D a ANANA AA ANANA AGA ANANA AAN NANANG en ANNA AA AAN ANAA dae nde 91 WFS80eb WIFI 802 11 Serial Module with antenna s s s ssssersrssrssrsresrsrrsrrsntnrenesntntnnnnnntnnnnnnnnnnnn nenne 93 GR lee tte EE 93 e EIERE 93 MV3 Bo n nivel do nl eereertecreeeperert ere ag ANNA SA KA ANA rsterecrererrrrettrter O 93 IM E ennaii one a anan angan naa nega 95 IV 5 Configuration via Serial Mode or Telnet Dot 0400 s eses na eaaa en anana anana aana n anana anana nana n anane 96 IV 6 Configuration using Web Manager 0s0sessa asanes nenen en aana aaa anana anan anaa aana nan anana anane n anana anana nenen 116 MCB3100 WiRobot Serial Bluetooth Wireless Module 1 asas ana aaa ea ana naen ana anana anana nana nan
8. Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 ival SetMotorPolarity5 short polarity Motor 5 ival SetMotorPolarity6 short polarity Motor 6 ival SetMotorPolarity short channel short polarity motor 1 2 3 4 5 or 6 Parameter short polarity Lor 1 short channel 0 1 2 3 4 or 5 for Sonar 1 2 3 4 5 6 Return value void ival 82 void EnableDcMotor short channel 83 void DisableDcMotor short channel Description These functions are obsolete Please see function ResumeDcMotor short channel and SuspendDcMotor short channel 84 void ResumeDcMotor short channel 85 void SuspendDcMotor short channel Description ResumeDcMotor resumes the specified DC motor control channel SuspendDcMotor suspends the specified DC motor control channel PWM output is all low Syntax ResumeDcMotor channel SuspendDcMotor channel Parameter short channel 0 1 2 3 4 o0r5 Return value void Remarks l All motor control channels are initially suspended when the system boot up 86 void SetDcMotorPositionControlPID short channel short Kp short Kd short Ki_x100 87 void SetDcMotorVelocityControIPID short channel short Kp short Kd short Ki_x100 Description SetDcMotorPositionControlIPID sets up the PID control parameters of the specified DC motor channel for position control Copyright Dr Robot Inc 2005 45 DS Dr Robot 25 Va
9. 905 943 9197 IX 4 Specifications Table IK 2 DHM5150 Specification Parameter Conditions MIN TYP MAX Unit Power Supply Voltage VCC 2 2 3 3 5 0 V Current Consumption vcc 5V 10 mA Wavelength 5 14 Um Human Motion Range 150 cm Human Presence Range 500 cm Directivity Horizontal 100 Directivity Vertical 60 Output Signal Voltage VCC V Board Size 30 x 48 mm x mm IX 5 Fresnel Lens m 3 2 Fresnel Lens b Ee 6 5 f Vertical View Pattern Dimensional Drawing A o 1 2 3 L L 1 L J 5 1 2 3 4 5 m w Horizontal View Pattern Copyright Dr Robot Inc 2005 143 0 D3 or Robot SHOR 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 X DAT5280 Ambient Temperature Sensor Module Al Introduction The DAT5280 Ambient Temperature Sensor Module uses high precision CMOS temperature sensor to generate linear voltage signal according to the ambient air temperature With a temperature coefficient of 25 5 mV C and nonlinearity of 0 5 the DAT5280 is superior in the functionality over conventional temperature sensors like thermometers Typical applications include robotic system and high precision thermal control X 1 1 Features High linearity 0 5 Standard output O 3 3V High temperature accuracy Plug and play in the WiRobot system X 1 2 Applications Robotic system Tem
10. 905 943 9572 Fax 905 943 9197 For details on how to control the robot using Microsoft Visual C please refer to the sample C source code and Chapter III WiRobot SDK API Page 26 V 4 Other Sample Applications More sample applications are available in the SampleApps folder for reference VI Miscellaneous VI System Update Dr Robot will provide software update for both the PC software as well as the DSP software to enhance the existing features User can visit www DrRobot com to check for any new updates available for the existing system Copyright Dr Robot Inc 2005 16 3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Chapter Il DRK6080 8080 System Specification DRK6080 Wireless Mobile System DRK8080 Wireless Mobile Animated Head System Copyright Dr Robot Inc 2005 Dd Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 17 WiRobot DRK6080 8080 Overview WiRobot is an integrated electronic and software robotic system extended from Dr Robot s comprehensive humanoid robot Each WiRobot development system is designed to provide a user friendly programming environment for hobbyists students and researchers to develop their advanced robot programs and applications at an affordable cost The DRK6080 8080 development system in
11. Built in voltage monitoring capability Built in 3 DC motor control schemes including open loop PWM control closed loop position control and closed loop velocity control Closed loop position and velocity control required the use of encoder or rotary sensor as the feedback device Users can physically connect the PMS5005 to a host e g PC processor or DSP through null modem cable or serial wireless modules By default the PMS5005 s UART setting is 115200 8 N 1 with hardware flow control With this connection there are two ways to communicate with the PMS5005 l Using WiRobot SDK Software requires Microsoft platform High level programs running on PC can communicate with the PMS5005 firmware using WiRobot SDK Component and supplied WiRobot Gateway program Users simply need to make a function call in their programs to obtain sensor information or to control different devices e g servos DC motors and etc without the needs to understand the communication details between PC and PMS5005 Please refer to the Chapter IL WiRobot SDK API Page 26 for further information on programming 2 Using PMSS5005 Communication Protocol A device e g PC processor or DSP can communicate with PMS5005 directly using packet level commands Such option has no requirement on the host and provides the freedom for users to choose their development platform 1 2 1 PMS5005 Power Supplies and Consumption Up to three independent groups of power su
12. Enable AUTHENTICATION SHARED KEY WEP 128 bit key 112233445566778899AABBCCDD Router IP 192 168 0 200 If you prefer to change the router setting such as SSID router IP and or key you have to configure the WiFi module see Chapter IV session IV WFS802b WiFi 802 11 Serial Module with Antenna on the robot to match your changed settings Copyright Dr Robot Inc 2005 9 DOr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 IV 1 2 Run the WiRobot Gateway ER wirobot Gateway is Cnc Connecton Setting C Seiial Port amp BT Dongle Serial Port Eom 7 WiFi Connection IP 192 168 1 100 Port 10001 C Bluetcoth Connection BT Addiess 00000000000 Connecton Status Network Status El WiFi Connection Discornecled Figure IV 2 WiFi Gateway Check the WiFi Connection and input the IP of the robot which you want to connect and input the Port with 10001 and then click the Connect button You can find the robot IP under the robot IV 2 Serial Cable Connecting The user can also connect the WiRobot system to a PC through a null modem cable RS23e2 Cross over Serial Cable as follows O Serial Cable Connect ae WiR obot System e q DRK6 000 DRK amp OO0 PS5005 or PMB5010 s Figure IV 3 WiRobot System Setup without Wireless Connection Copyright Dr Robot I
13. FNBO1611F F088 1F O000000000000t 8O30000F FFF FF OO 0000 00000 00000 00 00001 090009909 7050600356CS9030000F FFFFFO8G080000000000000000000001D Loaded 0x4502 Program and 0x0210 Data words Application started Connected 0 00 39 to detect 115200 0M1 A aS NM 4 Pret o Figure 1 10 Successful PMS5005 Firmware Upgrade 13 When the download is finished you could disconnect the COM connection in the hyper terminal and re start your PMS5005 ll PMB5010 Multimedia Controller II Introduction The PMB5010 Robot Multimedia Controller can be used as audio video and wireless communication processing unit for various robotic applications Its onboard firmware makes the low level function modules such wireless communication module transparent to the users A host e g PC DSP or processor will be used to communicate and control the PMS5005 for different applications through the UART serial interface The system can help robotic and Al researchers and developers focus on the high level logic and algorithm designs and avoid the hassle of writing low level device drivers standard control schemes and troubleshooting the electronic circuits The ease of use powerful functionality and onboard intelligence can eliminate design risk streamline hardware and software development and significantly shorten the time to delivery while effectively reducing the cost Typical applications include humanoid robot legged robot wheel based robot robot head a
14. Navigation Navigation and more and more and more Figure l 2 WiRobot Software Architecture Copyright Dr Robot Inc 2005 28 9 DrRobot RES 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 lll WiRobot SDK API Reference for PMS5005 WiRobot SDK APIs for PMS5005 are grouped under the categories of Sensor Peripherals Motion Control Multimedia Control and Events ILL Sensor Peripherals This section contains the APIs for the operations of different sensor peripherals II1 1 1 Batch Sensor Data Updating API Standard Sensors Sonar human infrared range tilt acceleration temperature battery voltage and infrared remote control receiver Motor Sensors Potentiometers current feedback sensors and encoders Custom Sensors Custom expansion A D inputs and digital inputs void SystemMotorSensorRequest int PacketNumber ru void SystemStandardSensorRequest int PacketNumber W void SystemCustomSensorRequest int PacketNumber D void SystemAlISensorRequest int PacketNumber Description SystemMotorSensorRequest sends a request command to the WiRobot Sensing and Motion Controller PMS5005 in order to get the sensor data related to motor control SystemStandardSensorRequest sends a request command to the WiRobot Sensing and Motion Controller PMS5005 in order to get all the WiRobot standard sensor data SystemCustomSensorRequest
15. O A A GAsearch Favorites Meda lt 4 D As a Address E http 192 168 0 251 Or Robot Firmware Version 5 8 0 1 MAC Address 00 20 48 82 E6 84 ke Home Network Server Serial Tunnel Hostlist Channel 1 Configurable Pins SS r Robo Apply Factory Defaults Device Server Configuration Manager Version 1 0 apintemet The main menu is displayed in the left side of the Web Manager window Note Alternatively access the WFS8O02b s Web Manager if it is connected to the network by entering its IP address in a web browser Copyright Dr Robot Inc 2005 116 23 Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 IV 6 2 Network Configuration The unit s network values display upon selecting Network from the main menu The following sections describe the configurable parameters within the Network configuration menu Note The IP address is assigned via DHCP on DHCP enabled networks Assign a static IP address only if necessary Figure IV 2 Network Settings Z Dr Robot WiFi Module Device Server Microsoft Internet Explorer File Edit View Favorites Tools Help Beck gt OO A Asearch Favorites media lt 4 Ex S D Address hitpufi9a168 0251 0 Lis Or Robot Firmware Version 5 8 0 1 MAC Address 00 20 48 82 E6 84 Bo Network Settings Network Server Serial Tunnel IP Configuration Hastlist C
16. 1 15 Quadrature Encoder Connector ENCODER 2 Pin Name Signal Description 1l ENCB Channel B signal 2 VCC 3 3V 3 ENCA Channel A signal 4 ENCI Index signal reserved for future use 5 GND Power supply ground Table 1 16 Infrared Range Sensor Connector RANGE Pin Name Signal Description VCC 5 0 V d RVS Range data analog O 3 0V 3 GND Analog ground Table 1 17 LCD Display Connector LCD Pin Signal Description l VDD 5 0V power supply for logic d VSS Power supply ground 3 Vo LCD operating voltage 4 DO Data bit O 5 Dl Data bit 1 6 De Data bit 2 7 D3 Data bit 3 8 DI Data bit 4 9 D5 Data bit 5 10 D6 Data bit 6 11 D7 Data bit 7 12 cs Column select 1 64 13 cSe Column select 65 128 Copyright Dr Robot Inc 2005 Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 14 RESET Reset input 15 R W Read write 16 D I Data Instruction indication 17 E Enable 18 VEE Negative voltage output 19 A Power supply for LED backlight 20 K Power supply for LED backlight Table 1 18 Custom A D Expansion Connector EXP AD Pin Signal Description 1 2 3 4 3 0V Analog power supply max UOmA 5 6 15 16 Ground Analog ground 7 AD_IN1 Analog O 3 0V 8 AD_INe Analog O 3 0V 9 AD_IN3 Analog O 3 0V 10 AD INU Analog O 3 0V 11 AD INS Analog O 3 0V 12 AD ING Anal
17. 1 Wireless Network Configuration Auto Detect Infrastructure Ad Hoc Mode Network Name SSID aridsc VV Hot Found Create Ad Hoc Network Configurable Pins Network Name SSID JDRROBOT_DSC Apply Settings Country United States z Apply Factory Defaults Network Channel Channel 11 SI Wireless Network Security Security WEP d Authentication Shared E Encryption 128 bits Encryption Key p i in hex Retype Key Ir in hex Advanced Settings Data Rate fii 5 5 2 1 Mbps Radio Power 4 Management C Enable Disable o 2 Enter or modify the following fields Network Interface Use the pull down menu to select a WLAN interface or an Ethernet interface Network Name Enter the name of the network where the WFS80ceb is located Ad Hoc Settings Ad Hoc Network Select the checkbox when using a client such as a wireless card to Creation communicate with the WFS802b instead of an Access Point Ad Hoc Network Enter the network name for the Ad Hoc network Name Ad Hoc Network Select from the pull down menu the radio channel for the Ad Hoc Copyright Dr Robot Inc 2005 125 O Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Channel network The default value is 11 Ad Hoc Country From the pull down menu select a country for the Ad Hoc network The default is United States Wireless N
18. Copyright Dr Robot Inc 2005 9 6 o DY Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 address and 9999 is the unit s fixed network configuration port number Windows telnet x x x x 9999 UNIX telnet x x x x 3999 3 Click OK The following information displays Figure IV MAC Address MAC address OO204UAFFFF30 Software version 05 3 040129 WPT Press Enter to go into Setup Mode U To enter the Setup Mode press Enter within 5 seconds Note Connection fails if Enter is not pressed within 5 seconds The configuration settings display followed by the setup menu options Figure IV 2 Setup Menu Options Change Setup O Server 1 Channel 1 2 Channel 2 3 Email 4 WLAN 5 Expert 6 Security 7 Factory defaults 8 Exit without save 9 Save and exit Your choice 5 Select an option on the menu by entering the number of the option in the Your choice field and pressing Enter View the current configuration by pressing Enter from the Change Setup menu To enter a value for a parameter type the value and press Enter To confirm a current value press Enter without inputted parameters 6 When finished save the new configurations 9 Save and exit The unit reboots Serial Port Access To configure the unit through a serial connection 1 Connect a console terminal or PC running a terminal emulation program to you
19. EE remote port number pppp ATDT Makes a connection to an IP address x x x x and the KAKAK remote port number defined within the unit Forces the unit into Monitor Mode Uses remote IP ATDO 0 0 0 address and port settings to initiate a connection Forces the unit into Monitor Mode Uses remote IP ATD or ATDT address and port settings to initiate a connection ATD Makes a connection to an IP address x x x x and the AXX remote port number defined within the unit ATH Hangs up the connection Entered as ATH ATSO n Enables or disables connections from the network going to the serial port n O disables the ability to make a connection from the network to the serial port n 1 9 enables the ability to make a connection from the network to the serial port n gt 9 is invalid ATEn Enables or disables character echo and responses n O disables character echo and responses n l enables character echo and responses ATVn Enables 1 character response or full verbose n O enables 1 character response n l enables full verbose Note The unit recognizes these AT commands as single commands such as ATEO or ATVI it Copyright Dr Robot Inc 2005 107 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 does not recognize compound commands such as ATEOV Remote IP Address This is the destination IP address used with an outgoing connection The current value is disp
20. Fax 905 943 9197 How to start the robot Push the red button behind the robot s head Why the robot does not start after push the red button Please check the power whether the battery has been Plugged in If the robot does not start after plugging in the battery please charge the battery and make sure it s voltage is higher than 7 5V Why I can t connect the robot with my PC Please follow the step below l Connecting the Bluetooth cables Connect Serial cable make sure the serial cable is connected to the COM socket of your PC at one end and the other end should be connected to the RS232 interface module with power connector which is assembled together with a serial Bluetooth wireless module Connect USB cable plug one end in your PC and plug the other end in the RS232 interface module with power connector which is assembled together with a serial Bluetooth wireless module Turn on the robot Check the LED lights on the socket board and find out if they are flashing on the socket board There should be 2 LED lights keep flashing fast on the upper board PMS5005 in the right rear corner of the robot and 1 LED light keep flashing on the lower board in the right front corner of the robot If these 3 LED lights are flashing the robot is started completely Run the WiRobot Gateway It can be found at the desktop after installing the WiRobot System Wireless Connection Input the Robot Address which you can find a
21. Firmware Update Successfully will be shown if the download succeeds The whole process will take about 1 minute PMDS010 Upgrade HyperTerminal Fle Cdt view Cal Transfer Hep Del 518 ola S Dr Robot Inc PHBS010 Bootloader V1 00 Ald tight Reserved 2001 2003 Connected 0 01 44 Wie deeg Miseni SEO S Wun ee Doze Figure II 8 Successful PMB5010 Firmware Upgrade 13 When the download is finished you could disconnect the COM connection in the hyper terminal and re start your PMB5010 Copyright Dr Robot Inc 2005 87 O QA Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 lil MDM5253 DC Motor Driver Module with Position and Current Feedback ILL Introduction The MDM5e253 DC Motor Driver Module with Position and Current Feedback is a three channel H bridge switching power amplifier board It can be directly controlled by motion controller s logic level PWM driving signals at a frequency up to 2O KHz For each of the three independent channels the MDM5e253 also provides the current feedbacks and connectors for position sensors such as potentiometers Each channel is able to drive inductive DC load with current up to 5 0 A and operating voltage ranging from 5 0 V to 28 0 V I11 1 1 Features 3 Independent channels Output 5 0 V to 28 0 V operations Up to 5 0 A inductive DC load current capability 5 0 V TTL CMOS compatible Inputs PWM Frequenci
22. On board oscillator Plug and play in the WiRobot system VI l 2 Applications Audio input output for robotic systems Voice and speech recognition Voice and audio playback VI 2 Operations VI 2 l Theory of Operation The MAC5310 Module is designed to run as part of WiRobot system It can be directly plugged on to the PMB5010 Robot Multimedia Controller board No configuration procedure is needed Once connected the PMB5010 on board firmware and the audio input output device driver will take care of the low level operations of the voice speech capturing and audio output VI 3 Connections V1 3 1 Board Structure Figure VI 1 shows the board structure locations and functions of the connectors on the MAC5310 module board Speaker Connector System Interface Connector Microphone Connector Figure VI MAC5310 Connector Locations Copyright Dr Robot Inc 2005 131 DOr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 vVI 3 2 Connector Description The definitions of the MAC5310 connector signals are listed in the following tables Table V1 1 Speaker Connector SPEAKER Pin Name Function l SOl Speaker output 1 d 502 Speaker output d Table VI 2 Microphone Connector MICROPHONE Pin Name Function l NC No connection d MIP Microphone input 3 MIM Microphone input Table V1 3 System In
23. Robot Sensing and Motion Controller Page 67 for detailed information on hardware setting Syntax ival GetSensorBatteryAD1 for battery of DSP circuits or custom A D channel 1 ival GetSensorBatteryAD2 for battery of DC motors or custom A D channel 2 ival GetSensorBatteryAD3 battery for servo motors or custom A D channel 3 Parameter void Return value short ival Return data interpretation The return data is the raw value of the analog to digital converter indicating the output voltage of the monitor The data range is between O and 4095 When monitoring the voltage of the power supply following equations can be used to calculate the real voltage values 1 Power supply voltage of DSP circuits ival 4095 9 V 2 Power supply voltage of DC motors ival 4095 2U V 3 Power supply voltage of servo motors ival 4095 9 V La short GetSensorRefVoltage 43 short GetSensorPotVoltage Description GetSensorRefVoltage returns the current value of the reference voltage of the A D converter of the controller DSP GetSensorPotVoltage returns the current value of the power supply voltage of the potentiometer position sensors Syntax ival GetSensorRefVoltage ival GetSensorPotVoltage Parameter void Return value short ival Return data interpretation Copyright Dr Robot Inc 2005 38 D3 Or Robot www DrRobot com 25 Valleywood D
24. SH JTAG Upper reach Board Address Scio Jumpers CPLO JTAG CMOS Image P H Sensor Connector Figure l 2 PMB5010 Connectors and Jumpers Il 2 Operations The PMB5010 Robot Multimedia Controller is designed to be running as part of the WiRobot system The hardware preparation when using PMB5010 is just simply connecting the relevant peripheral modules to the relevant connectors on the PMB5O10 board and setting the proper jumper configurations Lower device level operations are handled by the firmware embedded in PMS5010 controller High level programs running on PC or other processors are virtually communicating with the PMB5010 firmware using either WiRobot SDK Component and supplied WiRobot Gateway program or packet level commands Please refer to the Chapter III WiRobot SDK API Page 26 for using WiRobot SDK and WiRobot Communication Protocol for using packet level commands Il 2 1 PMB5010 Power Supplies Up to two power supplies can be connected to the PMB5010 board supporting board system circuits System Power Supply and Parallel Expansion Module Expansion Power Supply reserved respectively These power supplies can be connected to the board either through the screw terminals or the power jacks Near each screw terminal there are two connector ports for connecting power switches or emergency buttons By default these two ports are connectors together If the power switches are needed you could place a switch for each con
25. See also ServoTimeCtr 110 void ServoNonTimeCtrAll short cmdl short cmd2 short cmd3 short cmd short cmd5 short cmd6 Description ServoNonTimeCtrAll sends the position control command to all 6 servo motor control channels on the Sensing and Motion Controller PMS5005 at the same time The command includes the target position commands without specific execution time period The motion controller send the desired pulse width to the servo motor right away Syntax ServoNonTimeCtrAll cmdl cmd2 cmd3 cmd4 cmd5 cmd6 Parameter short cmd Target position for channel 1 short cmde Target position for channel 2 short cmd3 Target position for channel 3 short cmd Target position for channel 4 short cmd5 Target position for channel 5 short cmd6 Target position for channel 6 Return value void Remarks l Please refer to the remarks under ServoTimeCtr 2 When some motors are not under controlled their command values should be set as 32768 Ox8000 That means NO CONTROL See Also ServoTimeCtr Copyright Dr Robot Inc 2005 DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 58 IL 3 Multimedia Control 11 3 1 LCD Display 111 void LcdDisplayPMS LPCTSTR bmpFileName Description LcdDisplayPMS displays the image data in the file bmpFileName BMP format on the graphic LCD connected to the Sensing and Motion Controller P
26. Servo motors up to 6 Quadrature Encoder Inputs Ultrasonic sensor modules up to 6 Potentiometer position feedback sensor up to 6 Human sensor module up to 2 Infrared range sensor input Ambient temperature sensor modules Tilt acceleration sensor modules Custom A D inputs Digital inputs Digital outputs Full duplex serial communication interface SCI Full duplex infrared remote control and communication interface Wireless Operation Range 15 meter indoor 35 meter line of sight Power Supply 7 2V Ni MH 2100mAh Operation Time with 2100mAh battery 1 5hr l 2hr with 3300mAh battery e 5hr 2 2hr Maximum Moving Speed Approx 9 meter per minute Additional Optional Ambient temperature sensor modules Peripheral Modules Tilt acceleration sensor modules DC motor Servo Ultrasonic sensor module Potentiometer position feedback sensor Human sensor module 1 x Smart fast charger 1x 7 2V Ni MH 3300mAh Copyright Dr Robot Inc 2005 19 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 The standard WiRobot DRK series system electronic modules Table L Standard WiRobot DRK Series System Electronic Modules Part Number Name DRK6O80 DRK8080 PMS5005 Robot Sensing and Motion Controller 1 PMS5010 Multimedia Controller l A es 5 MDM5e253 DC Motor Driver Module with Position and Current Feedback Ultrasonic Range S
27. Table 11 9 CMOS Image Sensor Connector IMAGE Pin Signal Description l vccs 5 0V d DO Image data bit O 3 ISCL l2C Clock 4 Dl Image data bit 1 5 ISDA I2C data 6 De Image data bit 2 7 VS Digital image vertical blank pulse input 8 D3 Image data bit 3 9 HREF Digital image horizontal blank pulse input 10 DL Image data bit 4 ll RCLK Digital YUV signal synchronized clock input le DS Image data bit 5 13 RESET Reset output 14 D6 Image data bit 6 15 GND Power supply ground Copyright Dr Robot Inc 2005 D3 Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada www DrRobot com Tel 905 943 9572 Fax 905 943 9197 su 16 D7 Image data bit 7 II 3 Procedure to upgrade the PMB5010 firmware 1 Download and save the latest PMB5010 firmware from www DrRobot com 2 Turn off PMB5010 and keep it off until step 9 3 Use a null modem cable to connect the PC to PMB5010 All peripheral modules e g LCD and etc can still be plugged to the PMB5010 without affecting the upgrade process D Close all WiRobot software on PC e g WiRobot Gateway and all sample applications 5 Start the hyper terminal which come with MS Windows OS give a name to this new connection and choose the COM port that is connected to the PMS5005 normally COM or COMB as shown in the following figure ols 613 all el St B awan Erter detas or the phone rambas that you want to dal Coumyhegon Ti Bhen TT
28. The single potentiometer sensor is for the control of robot joint with limited rotation range O to 332 The dual potentiometers and the quadrature sensor are for continuous rotating joint like wheels control Copyright Dr Robot Inc 2005 Le D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Syntax SetDcMotorSensorUsage channel SensorType Parameter short channel 0 1 2 3 4 or 5 for single potentiometer sensor 0 1 or 2 for dual potentiometer sensor O or 1 for quadrature encoder short SensorTupe O Single potentiometer sensor 1 Dual potentiometer sensor 2 Quadrature encoder Return value void Remarks l The electrical angular range of the potentiometer position sensor is O to 332 and the corresponding mechanical rotation range is 14 to 346 when the 180 position is defined at sensor s physical middle position e Each DC motor channel for dual potentiometer sensor utilizes two potentiometer channels DC motor channel O will use potentiometer channel O and 5 DC motor channel 1 will use potentiometer channel 1 and 4 DC motor channel 2 will use potentiometer channel 2 and 3 Please refer to the relevant application note for the use of dual potentiometers 3 Quadrature encoder will only use DC motor channel O and 1 U System s default setting for sensor usage is single potentiometer See also GetSen
29. There is one and only one host serving as the central controller All other embedded controllers have at least two SCI ports for the system communications upper reach port and lower reach port with the direction respect to the central controller The system communication connection structure of the PMS500S5 in the WiRobot system is shown in Figure LL PMS5005 can work solely in the WiRobot system or together with WiRobot Multimedia Controller PMB5010 when multimedia data video and audio is required in the system Copyright Dr Robot Inc 2005 69 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Communication Module Reguired for Wireless Connection RS232 Communication Module Required for Wireless Connection LA Board to Board Connection or Cable Communication gt E SSES aw Upper Reach SCI e TI Lower Reach SCI Board to Board Connection or Cable Communication Module Upper Reach SCI E TI II Lower Reach SCI Figure 1 3 WiRobot System Communication Architecture The system communication connectors on the PMS5005 are described in Table 1 4 Refer to Section 1 2 5 for the definitions of the signals attached to the connector BTOOTH and SCI Table LL System Communication Connectors Connector Type Description BTOOTH Upper Reach SCI port with handshaking and control signals for both wired and wirele
30. Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada www DrRobot com Tel 905 943 9572 Fax 905 943 9197 Parameter Conditions MIN TYP MAX Unit Power Operating Voltage VCCM 5 0 V 28 0 Under Switch off VCCM 4 15 YOU Yes v Voltage Switch on VCCM 4 5 4 75 5 0 V Shutdown Hysteresis 150 mV Logic Operating Voltage vccs 4 5 5 0 5 5 V Position Sensor Power Supply vcc3 3 0 3 3 V Standby Supply Current VENA OV IOUT 65 mA OA Control Input HIGH VENA VCTL 3 5 V 91 Control Input LOW VENA VCTL 1 4 V Enable Input Current IENA 25 100 UA DWM Input Current ICTL ffl UA Output on Resistance D 25 120 ROUT mOhm T 150 300 C DC Load Current T lt 150 C 5 0 A Over current Protection 7 0 A Thermal shutdown 175 d Over temperature Protection C Hysteresis 10 30 PWM Frequency 20 KHz Output ON Delay VCCM 14V 18 uS Output OFF Delay VCCM 14V 18 uS Output Rise Time VCCM 14V IOUT 2 0 8 0 uS 3A Output Fall Time VCCM 14V IOUT 2 0 8 0 US 3A Disable Delay Time 8 0 US Protection Turn off Time 4 0 US Power off Delay Time 10 5 0 US Position Sensor Input Range With PMS5005 0 0 3 0 V controller board Current Feedback Sensitivity 533 mV A Current Feedback Accuracy IOUT gt 1 5A 110 op IOUT lt 1 5 A f 20 Board Size 30x58 mm x mm Copyright Dr Robot Inc 2005 D3 Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada www DrRobot com Tel 905 943 9572 F
31. for a connection to the serial port from the network 3 The TCP connection closes even if the remote site does not acknowledge the disconnection 4 When there is a network connection to or from the serial port the state LED turns off Copyright Dr Robot Inc 2005 108 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 instead of blinking 5 When Ctrl D or Hex OU is detected the connection is dropped Both Telnet mode and Disconnect with EOT must be enabled for Disconnect with EOT to function properly Ctrl D is only detected going from the serial port to the network 6 When modem control in transitions from a high state to a low state the network connection to or from the serial port drops Flush Mode The FlushMode buffer flushing parameter controls line handling and network buffers with connection startup and disconnect FlushMode 0 Select between two different packing algorithms the current configuration is displayed within the parentheses Available Flush Mode options are Table IV 14 Flush Mode Options Function 7 6 5 4 3 2 l 0 Input Buffer Serial to Network Clear with a connection that is l initiated from the device to the network Clear with a connection initiated from l the network to the device Clear when the network connection 1 to or from the device is disconnected Output Buffer Network to Seri
32. of bits taken from the IP address that are assigned for the host part Netmask Number of Bits for Host Part O default O The unit prompts for the number of host bits to be entered then calculates the netmask which displays in standard decimal dot notation when the saved parameters are displayed for example 255 255 255 0 Table IV 4 Standard IP Network Netmasks Representing Host Bits Network Class Host Bits Netmask A 24 255 0 0 0 B 16 255 255 0 0 C 8 255 255 255 0 Change Telnet Configuration Password Setting the Telnet configuration password prevents unauthorized access to the setup menu via a Telnet connection to port 9999 or via web pages The password must have 4 characters Change telnet config password N An enhanced password setting for Telnet access only of 16 characters is available under option 6 Security from the Change Setup menu Note A password is not required to access the Setup Mode window via a serial Copyright Dr Robot Inc 2005 99 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 connection DHCP Name There are three methods for assigning DHCP names to the unit Default DHCP Name If the DHCP name is not changed and the IP is 0 0 0 0 then the DHCP name defaults to CKXXXXX XXXXXxX is the last 6 digits of the MAC address shown on the label on the bottom side of the unit For e
33. parallel with the measured axis Take the measurement and this value would be the SODegreeGValue um Ewu Repeat this step for the other direction Typical value of ZeroGValue is about 2048 and abs SODegreeGValue ZeroGValue is about 1250 11 1 5 Temperature Sensors 31 short GetSensorOverheatAD1 32 short GetSensorOverheatADe Description GetSensorOverheatADX returns the current air temperature values near the relevant DC motor drive modules MDM5253 which could be used for monitoring whether the motor drivers are overheating or not This situation usually occurs if the motor currents are kept high but still lower than the current limit of the motor driver module for significant amount of time which may result from some unfavorable inner or external system conditions and is not recommended for regular system operations Syntax ival GetSensorOverheatAD1 N overheating sensor Copyright Dr Robot Inc 2005 35 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 ival GetSensorOverheatADe Ja overheating sensor Parameter void Return value short ival Return data interpretation The return data is the raw value of the analog to digital converter indicating the output voltage of the sensor The data range of the return value is between O and 4095 The output voltage of the sensor can be calculated from the following equatio
34. potentiometers optical encoder and etc as the rotational position feedback you have to set the motor polarity properly using WiRobotSDK ActiveX control API SetMotorPolarityX so that the negative feedback is achieved See SetMotorPolarityX for detail The control of the standard RC servo motors is carried out by the built in analog PID controller IL el DC Motor Control 75 void SetMotorPolarityl short polarity 76 void SetMotorPolarity2 short polarity 77 void SetMotorPolarity3 short polarity 78 void SetMotorPolarity4 short polarity 79 void SetMotorPolarity5 short polarity 80 void SetMotorPolarity6 short polarity 81 void SetMotorPolarity short channel short polarity Description SetMotorPolarityX set the motor polarity to 1 or 1 for each motor channel L When the motor is running in positive direction the potentiometer value is also increasing motor polarity should be set to 1 which is default d When the motor is running in positive direction the potentiometer value is decreasing motor polarity should be set to 1 or change the sensor mounting so that the potentiometer value increases Suntax ival SetMotorPolarityl short polarity Motor 1 ival SetMotorPolaritye short polarity Motor 2 ival SetMotorPolarity3 short polarity Motor 3 ival SetMotorPolarity4 short polarity Motor 4 Copyright Dr Robot Inc 2005 Yu Wi d Dr Robot www DrRobot com 25 Valleywood Dr
35. r Ovh CDN Enable Servo 45 3500 1000 len fv Witopor woro we floes 2033 Range d 3000 4200 The Heart of ROBOT R Aj E Ia SE E Program L Mani Contr Patentat Vd EN GEG D 0 Sleep Wake Up Reset C Program File GO o p p fp aza ech SR BD vent arta Cnt Figure V 4 GUI of the WiRobot DRK8000 Controller VB User can click the button on the interface to control the robot as long as the WiRobot Gateway is connected to the robot The following are some functions used in this sample application for controlling the servos mounted on the head WiRobotSDk1 EnableServo O WiRobotSDK1 ServoTimeCtr 0 3800 1000 Copyright Dr Robot Inc 2005 14 O QA Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 The WiRobotsDKlis the WiRobot SDK Component ActiveX control The first line will enable the channel O servo The second line will control the servo to take L1OOOms to the target position of 3800 User can also obtain and control the multimedia information of the robot simply by calling the following functions WiRobotSDK1 LcdDisplayPMS sourceFileName WiRobotSDK1 TakePhoto WiRobotSDK1 SavePhotoAsBMP destinationfileName The first function will change the LCD display on the robot to the image stored in the sourceFileName which is in bitmap format The second function will request the robot to take a picture and an ImageEve
36. sends a request command to the WiRobot Sensing and Motion Controller PMS5005 in order to get all custom sensor data SystemAllSensorRequest sends a request command to the WiRobot Sensing and Motion Controller PMS5005 in order to get all the sensor data Syntax SyustemMotorSensorRequest PacketNumber motor related sensors SystemStandardSensorRequest PacketNumber standard sensors SystemCustomSensorRequest PacketNumber custom sensors SystemAllSensorRequest PacketNumber all the sensors Parameter short PacketNumber The meanings of PacketNumber as follows Table IIl Meanings of PacketNumber Parameter Action Requested PacketNumber O Stop sending the sensor data packets Send sensor data packet continuously until being asked to PacketNumber 1 stop PacketNumber gt O Send n PacketNumber packet s of sensor data and then Copyright Dr Robot Inc 2005 29 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 stop sending Return value void Remarks 1 The default update rate is 2OHz User can set up the data refresh rate according to real system requirements 2 System is default to continuously sending all data when bootup See Also SetSysMotorSensorPeriod SetSysStandardSensorPeriod SetSysCustomSensorPeriod SetSysAllSensorPeriod 5 void EnableMotorSensorSending 6 void EnableStandardSensorS
37. stop moving backward when either bumper d or 3 is engaged there will be not affect if Bag thewheels are moving forward i 126 void EnableBumperProtection Description This will enable the low level bumper protection feature EnableBumperProtection xxxx Syntax EnableBumperProtection Parameter void Return value void Remarks By default the bumper protection feature is disabled when system is booted up 127 void DisableBumperProtection Description This will disable the low level bumper protection feature DisableBumperProtection xxxx Syntax DisableBumperProtection Parameter void Return value void Copyright Dr Robot Inc 2005 64 Zeg Dr bont e RES 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Chapter IV WiRobot Module Copyright Dr Robot Inc 2005 OF so QA Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 65 L PMS5005 Sensing and Motion Controller 1 1 Introduction The PMS5005 Robot Sensing Motion Controller can be used as sensing control motion execution LCD display and wireless communication processing unit for various robotic applications Its onboard firmware makes the low level function modules such as motor driver module and wireless communication module transparent to the users A host e g PC DSP or processor will be used to communicate and control
38. the network With Passive Select Yes to clear the input buffer with a connection initiated from Connect the network to the device At Time of Select Yes to clear the input buffer when the network connection to or Disconnect from the device is disconnected Flush Output Buffer Network to Serial With Active Select Yes to clear the output buffer with a connection that is initiated Connect from the device to the network With Passive Select Yes to clear the output buffer with a connection initiated from Connect the network to the device At Time of Select Yes to clear the output buffer when the network connection to Disconnect or from the device is disconnected Connection Settings TCP To configure a channel s TCP settings l From the main menu click Connection for either Channel 1 or Channel 2 to display Copyright Dr Robot Inc 2005 D3 Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 lel Dre Fax 905 943 9197 the Connection Settings page for the selected channel 2 Inthe available fields enter the following information Connect Protocol Protocol Select TCP from the pull down menu Figure IV 6 TCP Connection Settings 3 Dr Robot WiFi Module Device Server Microsoft Internet Explorer Jol xj File Edit View Favorites Tools Help Back gt Q F at Oesch jFavorites_ Media 3 Z Sp KA SF Address suis enge ala Fi
39. the systems by making use of the available I Os on the Sensing and Motion Controller PMS5005 Driver for these I Os have been pre programmed data will be sent to the PC for processing 11 3 Known Issues When the power level is low the robot s electrical system will become unstable User has to monitor the power level and recharge the battery when it is low The initialization of the robot when powering on will take about 3 10 seconds Please make sure that the robot finished its initialization stage before WiRobot Gateway software on PC starts to connect to the robot This may lead to failure connection between PC and the robot Copyright Dr Robot Inc 2005 24 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Chapter II WiRobot SDK Application Programming Interface API For MS Windows Copyright Dr Robot Inc 2005 O Dd Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 25 Convention Data Type int 16 bit signed interger UWord16 16 bit unsigned interger short 16 bit signed interger Syntax Syntax under each API reference is based on the C C calling convention Corresponding Visual Basic calling convention can be found in relevant VB reference book or from the WiRobot VB code examples Copyright Dr Robot Inc 2005 2 6 Dd Or Robot www DrRobot co
40. timePeriod Executing time in milliseconds Return value void Remarks l Motor will be enabled automatically by the system when this command is received 2 Target position value is in the A D sampling data range O to 4O95 when using single potentiometer O 4428 when using dual potentiometers 3 Please refer to the description of GetSensorPot for data converting between angular values and the A D sampling data values D When using encoder as sensor input the target position value is the pulse count in the range of O 32767 See also GetSensorPot 93 void DcMotorPositionNonTimeCtr short channel short cmdValue Description DcMotorPositionNonTimeCtr sends the position control command to the specified motion control channel on the Sensing and Motion Controller PMS5005 The command includes the target position but no time period specified to execute the command The motion controller will drive the motor to the target position at the maximum speed Syntax DcMotorPositionNonTimeCtr channel cmdValue Parameter short channel 0 1 2 3 4 0r 5 short cmdValue Target position value Return value void Remarks Copyright Dr Robot Inc 2005 ug D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 L Motor will be enabled automatically by the system when this command is received 2 Target position value is in the A D sampling dat
41. voltage of the sensor The data range is between O and 4095 The angular position can be calculated as follows with the 180 position defined at sensor s physical middle position Single sensor or dual sensor can be used for rotation measurement Copyright Dr Robot Inc 2005 39 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 2 Single sensor is mainly used for the control of robot joint with limited rotation range The effective mechanical rotation range is 14 to 346 corresponding to the effective electrical rotation range O to 332 Angle position ival 2048 4095 333 180 3 Dual sensor configuration is mainly used for continuous rotating joint control such as wheels The effective rotation range is O to 360 Dual sensor configuration is only available for channel O and 1 By connecting two potentiometers to potentiometer channel O and channel 5 and specify the sensor type with command SetDCMotorSensorUsage to Dual potentiometer sensor the channel O reading will combine these two sensor readings into O to 360 range For channel 1 you should connect the two potentiometers to channel 1 and 4 Angle position ival 2214 2214 180 180 See also SetDcMotorSensorUsage I11 1 9 Motor Current Sensors 51 short GetMotorCurrentl 52 short GetMotorCurrente 53 short GetMotorCurrent3 54 short GetMo
42. 0 CODECO 1 Audio codec and amplifier module which can be used to connect to microphone and speaker MCI3908 IMAGE L CIF CMOS image sensor module 1 2 5 PMB5010 Peripheral Module Connections The definitions of the connector signals of the power supplies and the PMB5010 peripheral modules are listed in the following tables Table II 5 Connections of the Power Jacks and Terminals Power Jack JT1 JT2 Screw Terminal PDMT PSYT Positive Power Source Center l Power Supply Ground Circle d Table IG Upper Reach Communication Port BLUETOOTHT Pin Name Signal Description l VCC 3 33 V d RXD Data receiving 3 TXD Data transmitting 4 RTS Request to send 5 CIS Clear to send 6 GND Power supply ground 7 COMRST Reserved 8 BTIN Reserved Copyright Dr Robot Inc 2005 83 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Table l Lower Reach Communication Port SCIT Pin Name Signal Description l VCC 3 33 V d RXD Data receiving 3 TXD Data transmitting 4 GND Power supply ground Table I1 8 Audio Codec and Amplifier Module Connector CODECO Pin Signal Description l ADIN Data input 2 vccs 5 0V 3 AFS Frame sync 4 6 GND Power supply ground 5 ADOUT Data output 7 ASCK Shift clock 8 AMCK NC 9 RESET Reset output 10 APDN Power down output 11 AFC Request output for secondary communication 12 AVC3 3 3V
43. 05 943 9197 IS Control e wie Control Sr Control P Output Input 3 DC Power O Supply Input A Control Input 4 Control Input 2 Figure ILL H Bridge Switching Device In the design of the MDM5253 only one PWM control signal is required to control both the direction and the magnitude of the output for each channel The H bridge s diametrical opposite pairs control input 1 and control input 2 and 3 are connected and driven HIGH and LOW together and the two Pairs are controlled with strictly inverted signals Figure IL d shows the relationship between the PWM duty cycle and system output The zero average output occurs when the duty circle is 50 The direction of the output in speed control for example the direction of rotation depends on whether the duty circle is larger than 50 or lower The magnitude of the output rotation speed in speed control depends on the absolute difference between the duty circle and 50 O lt Duty Circle lt 50 Duty Circle 50 50 lt Duty Circle lt 100 Control 1 Command a ee pave an ewan 0 Output Voltage Output Current Figure IL d Theoretic waveforms of PWM control for the MDM5253 In addition to the PWM control the MDM5253 can connect up to 3 sensing feedback devices e g MRS3302 DC motor control schemes such as position and velocity control can be implemented by installing feedback device on DC motor and connecting these devices to MDM5253
44. 15 void PlayAudioFile LPCTSTR fileName Description PlayAudioFile sends an audio file wav format to the Multimedia Controller PMB5010 The file will be played back on the speaker Syntax PlayAudioFile FileName Parameter LPCTSTR FileName the file name with full path Return value void Remarks The wav audio file should contain 16 bit sound wave data sampled at 8 kHz with PCM raw data format using mono channel Other supplied wave file format will still be played by the robot but may have undesired result 116 void StopAudioPlay Description StopAudioPlay stops a playing audio on the Multimedia Controller PMB5010 Syntax StopAudioPlay Return value void Remarks There will be no effect if no audio is playing 117 long GetVoiceSegment Description GetVoiceSegment returns the pointer to current voice data recorded from robot microphone in memory Copyright Dr Robot Inc 2005 60 DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Syntax IpVal GetVoiceSegmenit Parameter void Return value long IpVal pointer to current voice data Remark 1 You should use method GetVoiceSegLength to get the length of the Voice segment 2 Voice data is in PCM raw data format with 16bit 8KHz sampling rate 118 long GetVoiceSegLength Description GetVoiceSegLength returns the length of current voice data in m
45. 3D JAutoRedraw False BackColor amp H800c x Caption Returns sets the text displayed in an object s title Form Layout ES LR Figure V 3 Using ActiveX module under VB Step 3 V 2 Sample Application 1 WiRobot DRK8000 Controller VB This sample application demonstrates the basic capabilities of the WiRobot DRK8000 using Microsoft VB with source code provided This program can read sensor data obtain image and audio play wave file set the LCD display image and control the robot movement The GUI of this program is shown as follows Ex WiRobot SDK Control Program For DRK8000 Series lolx E WiRubot SDK Control Program For DRK8000 Series dN GH DCH eege d The Heart of ROBOT Command Timba p Motion Control p Multimedia Control User Teneagae gt dii TE P was mE Ii eseon JS from oc ig SI toes as fess ag E Range a 2700 4500 o ss ua fos ps _Ensiesevon2 IP fio en Ting DSPBomdver CR NGONE BO gt A Eve Hor Eye Vert SIS lw E amp amp Enable Servo 3 3050 1000 Hen Su 5 re Motor Vd Ca a 2320 3900 weg lo Slam 1078 cag i eos oe er SSES Enable Servo nd 3500 how je a Disable Streaming Display Save Photo paus f Fr Range 28 2700 4880 amp a D TCD Display Cer leng ele 2331 ni lt gt TM
46. 5 meters Plug and play in the WiRobot system Applications Security alarm human presence detection Human moving direction measurement Human following devices Human avoidance and security robot IK 2 Operations IX 2 1 Theory of Operation Infrared radiation exists in the electromagnetic spectrum at a wavelength that is longer than visible light Objects that generate heat also generate infrared radiation including animals and the human body The infrared radiation generated by human is strongest at a wavelength of 9 4 um The sensor used in the DHM5150 module has two sensing elements Together with a Fresnel lens the behavior of the sensor is shown in Figure ISL Heat source movement Output signal Fresnel lens Detecting area Figure IX 1 Typical Sensor Behavior IK 2 2 Running as Part of WiRobot System Copyright Dr Robot Inc 2005 141 O D3 Dr Robot Emer 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 When using the DHM5150 with the WiRobot system user can simply connect the module to one of the human sensor module connectors on the PMS5005 controller board and the PMS5005 built in sensor device driver will take care of the data acquisition Users can simply call a function offered by the WiRobot SDK software on PC requires Microsoft platform or send a data request packet platform independent to obtain the data IK 2 3 Running as a General Purpose Human Motio
47. 9090909099090900999909909 D00000O000 00000 00000 00000 00000 0000 00000 0000 00000 0000 00000 0000 335002000F E OOO DO 0000 DO DO DD 00000 00000 OD 0D0O DD DD 00000 D000D00D 951002010000100FFO1FFOLFFOLEFO1FFOIFFOLFFOLFE FFE FFFO1IEFOLFFOLFFOLFFOLFFOIFFO1 FFOLFFOLFFOLFFOFFFOLFFOLFFOLFFOLFFOLFF NEE FFF FFE AE AE PER FEE ET PPE EROH 95100201026FF 7F FF ITF JET TF FFF FFF EE ALP PE JEFF TT PEP OL PE JEFF PPP PPP UTEIE EE IEF FFE IFEF FEF EFFE 7EFE ELO FOI DCH 0880000000004 01 0000000000020004 000600080 3510020104C08CO0GE 865004 720062026 20FF 1FFFIFFFIFFFIFFFIFFFIFFEIFFFIFOSLFBBLFIBIF 981F 080D9B7EO80D95 7E 1OAD8F 7E 180089 7E 200083 7E 2800 7D 7E300D777E380D71 7E4OOD6B7E48OD 351002010 72500D5F 7ES80099 7E600093 7EG8OD4D 7E 70004 7 7E 780041 7E1000 7436000000000000 7F105E107F1060107F 106216 7F1064107F 1066107F 106810 7F 106A167F 106010 7F106E167F 107010 3510020109872107F 1074107F 1076107F 1078107F 107A107F 107C10800E INE OF 000 70000010101 C1610001020180GE 8F GE GF 6606000001010103010201E201 800E 8E BE OF 0005000001010105010401 35100201 OBE8O0E8D0E OF 0004 0000010101076106610262860E 8COE OF 0003000001010109010861 1202800E8BOEOF 00020000010101CB01CAG12202800ESADEOF 00010000010101CD01CC013202800E 351062010F A DE 08000000010101CFO1CEO14202808E N31 BO8000F 0800010101 00000E 00 00000000 000000000507 81064 38683800000000F 910A910F 910AC10F910B510F 91 0BE10F910C716F 9100010 3510020110AD910F 910E2100800613F 0000000000000E 1 104010E110D001CASEO000000000001611
48. 9572 Fax 905 943 9197 255 255 cm or longer 24 short GetSensorlRRange Description GetSensorlRRange returns the current distance measurement value between the infrared range sensor and the object in front of it Syntax ival GetSensorlRRange Parameter void Return value short ival Return data interpretation when using Sharp GP2YOAe1YK Table II 3 Return data interpretation Return Value Distance to Object lt 585 80 cm or longer 585 to 34UU6 80 to 8 cm gt 34U6 O to 8 cm Remarks The relationship between the return data and the distance is not linear Please refer to the Sensors datasheet for distance voltage curve The data returned is the raw data of the analog to digital converter The output voltage of the sensor can be calculated from the following equation Sensor output voltage ival 3 0 4095 V e g Sharp GP2YOA21YK http sharp world com products device lineup data pdf datasheet gp2yOa_d e pdf ILL 3 Human Sensors 25 short GetSensorHumanAlarml 26 short GetSensorHumanAlarme Description GetSensorHumanAlarm returns the current human alarm data from DHM5150 Human Motion Sensor Module Please refer to the Chapter IV VIII DHM5150 Page 106 for detailed information Copyright Dr Robot Inc 2005 33 Yan Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Syntax ival GetSensorH
49. 97 ou IV 4 Specifications Table IV 3 WFS80eb Specification Network Standard IEEE 802 11b Frequency Range 2 412 2 484 GHz Radio of Selectable Channels 14 Channels Security Password protection locking features WEP 64 128 Maximum Receive Level 10dBm with PER lt 8 Receiver Sensitivity 6edBm for 11Mbps 87dBm for 5 5Mbps 89dBm for 2 OMbps 93dBm for 1 0Mbps WLAN Power and Link LED Max UmA Current Firmware Upgradeable via serial port Serial Interface CMOS Asynchronous 3 3V level signals Rate is software selectable 300 bps to 921600 bps Serial Line Formats 7 or 8 data bits 1 2 Stop bits Parity odd even none Modem Control DTR DCD Flow Control XON XOFF software CTS RTS hardware none Network Interface Wireless 802 11b Protocols Supported 802 11b UDP TCP DHCP Data Rates With Automatic 11Mbps Fallback h 5 5Mbps 2Mbps e 1Mbps Media Access Control CSMA CA with ACK Frequency Range 2 412 2 484 GHz Range Up to 328 feet indoors Modulation Techniques CCK Mbps CCK 5 5 Mbps D PSK 2 Mbps DBPSK 1 Mbps Transmit Output Power 1UdBm ffl ldBm Average Power Consumption 1280 mW WLAN mode maximum data rate 820 mW WLAN mode idle 710 mW Ethernet mode Peak Supply Current 460 mA Management Internal web server Weight with antenna 50 grams Temperature Operating range WLAN 40 C to 70 C Size w o antenna 50 m
50. Advanced ARP Cache Timeout secs TCP Keepalive secs 45 ngs Connection Channel 2 600 Apply Factory Defaults a Internet To configure the WFS80eb s device server settings l Click Server from the main menu 2 Configure or modify the following fields Server Configuration Telnet Password Enter the password required for Telnet access Retype Password Re enter the password required for Telnet access Advanced ARP Cache When the unit communicates with another device on the network it Timeout adds an entry into its ARP table ARP Cache timeout defines the number of seconds 1 600 before it refreshes this table TCP Keepalive TCP Keepalive time defines how many seconds the unit waits during Copyright Dr Robot Inc 2005 D3 Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada 118 www DrRobot com Tel 905 943 9572 Fax 905 943 9197 an inactive connection before checking its status If the unit does not receive a response it drops that connection Enter a value between O and 60 seconds O disables keepalive 1V 6 4 Host List Configuration The WFS802b scrolls through the host list until it connects to a device listed in the host list table After a successful connection the unit stops trying to connect to any others If this connection fails the unit continues to scroll through the table until the next successful connection
51. Communication SEE Wireless Connection TI Lower Reach SCI Figure ILL WiRobot System Communication Architecture Copyright Dr Robot Inc 2005 7 JA Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Ill Software WiRobot SDK Installation ILL System Requirements The PC requirements in using the WiRobot system are PIN 5S50MHz or faster CPU 6UMBRAM or more 20 MB hard disk free space Microsoft Windows 2000 or XP operating system As well as Microsoft Visual VB or VC 6 0 with Service Pack 5 is required for users to develop their own applications IL WiRobot System Installation Insert the WiRobot System CD into the CD ROM and the auto run menu will guide you through the installation process Setup WiRobot System lol x Welcome to the WiRobot System Setup Wizard This will install WiRobot v1 01 on your computer It is recommended that you close all other applications before continuing Click Next to continue or Cancel to exit Setup Figure ILL WiRobot Installation Step 1 License Agreement Please read the following important information before continuing f Setup wiRobot System loj x Please read the following License Agreement You must accept the terms of this agreement before continuing with the installation Dr Robot Inc END USER LICENSE AGREEMENT PLEASE READ CAREFULLY THE USE OF THI
52. MS5005 Syntax LcdDisplayPMS bmpFileName Parameter LPCTSTR bmpFileName Full path of the BMP file for displaying Return value void Remarks The graphic LCD display is mono with dimension of 128 pixels by 64 pixels The bmp image must be 128x6 pixels in mono ILL Events This section documents the four Event mechanisms When the relevant data arrive from the WiRobot PMS5005 system relevant event will be fired user could write his her periodic data processing routine in the relevant event call back function 112 StandardSensorEvent Description When the standard sensor data arrive this event will be triggered 113 CustomSensorEvent Description When the custom expansion sensor AD and Input data arrive this event will be triggered 114 MotorSensorEvent Description When the motor control related sensor data arrive this event will be triggered The motor control data includes all the motor rotational sensor data such as potentiometer encoder and motor current data Copyright Dr Robot Inc 2005 59 DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 IV WiRobot SDK API Reference for PMB5010 WiRobot SDK APIs for PMB5010 supports advanced Multimedia Control features IV 1 Multimedia Control This section contains the APIs for the operations of audio input and output image capturing and LCD display IV 1 1 Audio Input and Output 1
53. Obtain IP address automatically channel ae Disable BOOTP P Disable DHCP E Disable AutolP 7 Host Name l _ Configurable Pins Use the following IP configuration LEE IP Address 192 168 0 25 Apply Factory Defaults Subnet Mask 255 255 255 0 Default Gateway 192 168 0 250 o Automatic IP Address Configuration To automatically assign an IP address and its network configuration 1 Click Network from the main menu 2 Select Obtain IP address automatically 3 Enter the following as necessary Disable BOOTP Leave the checkbox empty to enable Bootstrap Protocol BOOTP The BOOTP server automatically assigns the IP address from a pool of addresses Disable DHCP Leave the checkbox empty to enable Dynamic Host Configuration Protocol DHCP DHCP automatically assigns a leased IP address to the WFS802b unit Disable Auto IP The WFS802b generates an IP in the 169 25U x x address range with a Class B subnet Select the checkbox to disable this feature Host Name Enter the name of the host on the network Note Disabling BOOTP DHCP and Auto P i e all three checkboxes is not advised as the only available IP assignment method will then be ARP or serial port LL Click the OK button when finished Static IP Address Configuration To manually assign an IP address and its network configuration Copyright Dr Robot Inc 2005 117 D3 or Robot SHOR 25 Valleywood Dr Unit 20 Markh
54. Power Supply DC Motor Power Supply and Servo Motor Power Supply since high power consumption devices e g high torque servos may affect the operation of voltage sensitive devices e g sensors due to voltage frustration Note Please make sure that the DC motor power supply voltage does not exceed the maximum allowable voltage for the DC motors 1 2 2 PMS5005 Jumper Settings The board address jumpers can be set to any value between O and 15 The board address is currently reserved for future use Table l 2 Board Address Jumpers D ADDR Bit Pin Value 1 Value O O LSB le open 1 2 short 1 3 4 open 3 4 short 2 5 6 open 5 6 short 3 MSB 7 8 open 7 8 short JP_AD1 JP_ADe and JP_AD3 are used for enabling and disabling battery voltage monitoring If the jumper is removed the corresponding power supply monitoring and custom AD_IN will be disabled Table 1 3 Battery Voltage Monitoring Jumpers Jumper Position Battery Voltage Monitoring JP_AD1 1 2 Enable system power supply monitoring 2 3 Disable system power monitoring and connect Custom AD_IN1 JP_AD2 1 2 Enable DC motor power supply monitoring 2 3 Disable DC motor power and connect Custom AD_IN2 JP_AD3 1 2 Enable servo motor power supply monitoring 2 3 Disable servo motor power monitoring and connect Custom AD IN3 1 2 3 PMS5005 System Communication Connections Under the WiRobot system architecture all controllers are connected in a chain
55. Robot Gateway and turn off the robot try it again 10 seconds later Copyright Dr Robot Inc 2005 1l o JA Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Is Hut Connecton Setting C Serial Port amp BT Dongle Serial Por ECM 7 Ze WiFi Connection IP 192 168 1 100 Part 10001 Buetcoth Connection BT Address ULI UCL Connecton Status Network Status i WiFi Connection Discornecled Figure IV 6 GUI of WiRobot Gateway on PC The WiRobot Gateway will provide connection status information between the PC and the robot This program is required to keep running as long as the user wants to access and control the robot through the sample applications or their custom programs Robot data acquisitions including human sensor ultrasonic sensor Infrared distance sensor tilting sensor potentiometer color CMOS image sensor microphone and etc and motion control can be done by making function calls offered by the WiRobot SDK ActiveX Module Details of this ActiveX control component can be found in the Chapter III WiRobot SDK API Reference After the connection is established between the robot and the PC user can start to use the WiRobot system by running the sample applications offered in the WiRobot software package V Building PC Applications Using SDK This section will dis
56. S SOFTWARE IS SUBJECT TO THE SOFTWARE LICENSE TERMS OF DR ROBOT INC AND OTHER LICENSORS WHOSE SOFTWARE MAY BE BUNDLED WITH THIS PRODUCT BY YOUR USE OF THE SOFTWARE INCLUDED WITH THIS PRODUCT YOU AGREE TO THE LICENSE TERMS REQUIRED BY THE LICENSOR OF THAT SOFTWARE AS SET FORTH BELOW IF YOU DO NOT AGREE THE LICENSE TERMS APPLICABLE TO THE SOFTWARE DO NOT INSTALL OR USE THE SOFTWARE PRODUCT accept the agreement donot accept the agreement lt Back Cancel Figure IL WiRobot Installation Step 2 Copyright Dr Robot Inc 2005 23 Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Du default all these components will be installed under the directory C Program Files DrRobot WiRobot System unless user specifies another location during the installation WW Setup WiRobot System loj x Select Destination Directory N Where should wiRobot System be installed a cS OCH E Program Files C WiRobot System Sc The program requires at least 13 7 MB of disk space lt Back Cancel Figure IL 3 WiRobot Installation Step 3 IV Connecting to WiRobot System IV 1 WiFi Wireless Connecting IV 1 1 Configuration your 802 1 b or 802 11b compatible wireless access point router Configuration your 802 11b or 802 11b compatible wireless access point router with following default settings SSID dri SSID BROADCAST
57. T3B Channel 3 output B Table ll 2 Position Sensor Connectors POT 3 nl we pm l VCC3 3 0V 2 PVS Position data analog O 3 0 V Copyright Dr Robot Inc 2005 90 35 Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 GND3 Signal ground Table UL 3 Control Signal Connector MOTOROUT Pin Name Function l CTL1 Channel 1 PWM control signal d CTL2 Channel 2 PWM control signal 3 CTL3 Channel 3 PWM control signal 4 ENA Output enable for all channels High enable Low disable 56 GND5 Power supply ground for VCC5 7 8 vccs 5 0V 9 10 11 12 GNDM Power supply ground for VCCM 13 14 15 16 VCCM Positive load power source Table LL Feedback Signal Connector MOTORIN Pin Name Function le VCCc3 3 0 V positive power source for position sensors 3 4 GND3 Power supply ground for VCC3 5 CFB1 Channel 1 current feedback data analog O 3 0 V 6 CFBe Channel 2 current feedback data analog O 3 0 V 7 CFB3 Channel 3 current feedback data analog O 3 0 V 8 PFBl Channel 1 position feedback data analog O 3 0 V 9 PFBe Channel 2 position feedback data analog O 3 0 V 10 PFB3 Channel 3 position feedback data analog O 3 0 V IL Specifications Table IL MDM5253 Specification Copyright Dr Robot Inc 2005 D3 Or Robot 25
58. a nana 128 VI ln deet ET E 128 Ve EE EE 128 EC ee NL EE 129 E D 130 MAC5310 Audio Codec and Audio Power Amplifier Module een 131 MEL SIERO UUCTION ebe Viie Operations senan E E A VES GOMME den EE WIG eelere DUR5200 Ultrasonic Range Sensor Module EEN AIP We dree Te EE Vile e EL NEE WALES onja del E VILL Specifications NAIB We dree Ee RE AYA TY Pr Operations ss aaasasana sadana anana nan an awan re eee VIIL3 Connections VILL Specifications Copyright Dr Robot Inc 2005 d DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 IX DHM5150 Human Motion Sensor Module IX 1 Introduction X2 ee e IK eet de EE IKU Ee IX 5 Fresnel Lens X DAT5280 Ambient Temperature Sensor Module ENEE 144 Al Introduction KB TT E A3 Connections KU geet 146 Chapter V TROUBLE SHOOTING 55555 gga neng aan gag anana NE HEE EEN aa ED a Napa ENNER EENS 147 Copyright Dr Robot Inc 2005 3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Chapter WiRobot Getting Start Guide Copyright Dr Robot Inc 2005 23 Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 L Preface l l Audience This document is written for robot developers in using WiRobot systems It provides the initial product information as
59. a range O to 4O95 when using single potentiometer O 4428 when using dual potentiometers 3 Please refer to the description of GetSensorPot for data converting between angular values and the A D sampling data values D When using encoder as sensor input the target position value is the pulse count in the range of O 32767 See also DcMotorPositionTimeCtr GetSensorPot 94 void DcMotorVelocityTimeCtr short channel short cmdValue short timePeriods Description DcMotorVelocityTimeCtr sends the velocity control command to the specified motion control channel on the Sensing and Motion Controller PMS5005 The command includes the target velocity and the time period to execute the command The current trajectory planning method for time control is linear Syntax DcMotorVelocityTimeCtr channel cmdValue timePeriod Parameter short channel 0 1 2 3 4 or 5 short cmdValue Target velocity value short timePeriod Executing time in milliseconds Return value void Remarks l Motor will be enabled automatically by the system when this command is received 2 No velocity is available for motor channel using single potentiometer sensor 3 The unit of the velocity is Position change in A D sampling data second when using dual potentiometer sensor for rotational position measurement and pulse second when using quadrature encoder 4 Please refer to the description of GetSensorPot for data conversion between angular val
60. a rate is pre programmed to 115 2kbps with hardware flow control and can be adjusted according to the customer s preferred setting at the time of purchase All wireless firmware has been embedded into the module and user simply needs to issue a CONNECT command to the MCB3100 in order to establish a connection with another MCB3100 wireless module V 2 2 Configuration PC PC for Sample 1 Connect MCB3100 Bluetooth modules and MCR3210P RS23e interface modules with 8pin flat cable provided by Dr Robot red line should be first Pin 2 Use null modem RS232 cable connect MCR3210P RS232 interface module to PC serial port such as Coml and use one USB cable to connect MCR3210P RS23z2 interface module to one USB port It just provides power to RS232 module 3 Same connection to another PC D Launch Hyper Terminal program choose a port just connected on step2 and set port settings as Bits per second 115200 Data bits 8 Parity none Copyright Dr Robot Inc 2005 128 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Stop bits l Flow control hardware 5 Plug USB cable again to reset Bluetooth module you can get a message from HyperTerminal AT ZV CommandMode AT ZV BDAddress xxxxxxxxXxxxx 6 At another PC you need launch same configuration of HyperTerminal Get same result but BDaddress should be different it just like OOOU3eO1xxxx 7 At o
61. al Clear with a connection that is l initiated from the device to the network Clear with a connection initiated from 1 the network to the device Clear when the network connection l to or from the device is disconnected Alternate Packing Algorithm Pack Control Enable l Pack Control The packing algorithm defines how and when packets are sent to the network The standard algorithm is optimized for applications in which the unit is used in a local environment The alternate packing algorithm minimizes the packet count on the network and is especially useful in applications in a routed Wide Area Network WAN Adjusting parameters in this mode can economize the network data stream Pack control settings are enabled in Flush Mode Set this value to OO if specific functions are not needed Table IV 15 Pack Control Options Option 7 6 5 4 3 2 1 0 Packing Interval Interval 12ms 0 0 Interval 52ms O l Inteva 250m Jf fa fo Copyright Dr Robot Inc 2005 109 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Interval 5sec 1 1 Trailing Characters None O O One O l Two l O Send Characters 2 Byte Send Character Sequence l Send Immediately After Send chars l Packing Interval Packing Interval defin
62. am ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 1 Click Network from the main menu 2 SelectUse the following IP configuration 3 Enter the following as necessary IP Address If DHCP is not used to assign IP addresses enter it manually The IP address must be set to a unique value in the network A subnet mask defines the number of bits taken from the IP address that are assigned for the host part Subnet Mask The gateway address or router allows communication to other LAN segments The gateway address should be the IP address of the router connected to the same LAN segment as the unit The gateway address must be within the local network Default Gateway LL Click the OK button when finished IV 6 3 Server Configuration The unit s server values display upon selecting Server from the main menu The following sections describe the configurable parameters within the Server configuration menu Figure IV 3 Server Settings 3 Dr Robot WiFi Module Device Server Microsoft Internet Explorer Mi x File Edit View Favorites Tools Help Back gt O 2 A Asearch Favorites media lt 4 he SO S Address E httn 192 168 0 251 z oe Links gt Or Robot tt Network Server Serial Tunnel Hostlist Channel 1 Firmware Version 5 8 0 1 MAC Address 00 20 48 82 E6 84 Server Settings Server Configuration Telnet Password Retype Password
63. analog to digital converter The temperature reading can then be calculated according to Figure IX 1 or the following equation TV in V 0 92 0 0255 Temperature X 3 Connections X 3 1 Board Structure Figure X 3 illustrates the structure of the board Figure X 3 DAT5280 Structure Copyright Dr Robot Inc 2005 145 o 3d Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 X 3 2 Connector Description The DATS5280 can be connected to the controller system via a 3 pin 2 54 mm pitch single row connector Table X 1 Temperature Sensor Connectors Pin Name Function l VCC Positive power source 5 V DC d TV Temperature voltage analog signal output 3 GND Power ground X 4 Specifications Table K 2 DAT5280 Specification Parameter Conditions MIN TYP MAX Unit Power Supply Voltage 4 9 5 0 5 1 V Current Consumption Vcc 5V 5 0 mA Nonlinearity 20 C 80 C ff10 5 Temperature Sensitivity 20 C 100 C 4 66 25 5 26 34 mV C Board Size 30x24 mmx mm Copyright Dr Robot Inc 2005 CSR 25 Valleywood Dr Unit 20 Markham ON L3R SL 9 Canada Robot www DrRobot com Tel 905 943 9572 Fax 905 943 9197 146 Chapter V TROUBLE SHOOTING Copyright Dr Robot Inc 2005 147 O 23 Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572
64. ax 905 943 9197 92 IV WFS80eb WiFI 802 11 Serial Module with antenna IVL Introduction The WFS80eb WiFi 802 11b serial module is the most compact integrated solution available to add 802 11b wireless networking to your robots with a serial interface To enable access to a local network or the internet the WFS8Oeb integrates a fully developed TCP IP network stack and OS The WFS80 2b also includes an embedded web server that can be used to remotely configure monitor or troubleshoot the attached device The WFS80eb is the most compact integrated solution available to add 802 11b wireless networking to any device with a serial interface Using our highly integrated hardware and software platform you will add to your bottom line by significantly reducing product development time risk and cost IV 1 1 Features Serial to 802 11b conversion Dual serial ports up to 921 6kbps per port Integrated industry standard 802 11b wireless interface 128bit WEP Encryption for security Connect any serial device to a wireless network Stable field proven TCP IP protocol suite and Web based application framework Easy configuration through a web interface Embedded web server High performance throughput IV 1 2 Applications Robotic systems both run time and development stage communication General purpose wireless data communication IV 2 Operations IV 2 1 Protocol Support The WFS80ceb uses the widely accepted 802 11b protocol to c
65. ax 905 943 9197 packets to PC central controller Return value void Remarks The default PeriodTime 50 ms i e update rate is 2OHz PeriodTime should be bigger than 50 ms i e the system data fastest refresh rate is 2OHz See Also SystemMotorSensorRequest SystemStandardSensorRequest SystemCustomSensorRequest SystemAllSensorRequest IL L Range and Distance Sensors 17 short GetSensorSonarl 18 short GetSensorSonare 19 short GetSensorSonar3 20 short GetSensorSonar4 21 short GetSensorSonar5 22 short GetSensorSonar6 23 short GetSensorSonar short channel Description GetSonarSensorX returns the current distance value between the relevant ultrasonic range sensor module DUR5200 and the object in front of it The unit is cm Syntax ival GetSensorSonarl Sonar 1 ival GetSensorSonare Sonar 2 ival GetSensorSonar3 Sonar 3 ival GetSensorSonar4 Sonar 4 ival GetSensorSonar5 Sonar 5 ival GetSensorSonar6 Sonar 6 ival GetSensorSonar short channel Sonar 1 2 3 4 5 or 6 Parameter void short channel 0 1 2 3 4 or 5 for Sonar 1 2 3 4 5 6 Return value short ival Return data interpretation Table Ill 2 Meanings of PacketNumber Return Value Distance to Object 4 O to cm Uto 254 LU to 254 cm Copyright Dr Robot Inc 2005 32 DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943
66. aying Return value void Remarks The graphic LCD display is mono with dimension of 128 pixels by 64 pixels The bmp image must be 128x64 pixels in mono IV 2 Events This section documents the tuo Event mechanisms When the relevant data arrive from the WiRobot PMB5010 system relevant event will be fired user could write his her periodic data processing routine in the relevant event call back function 124 ImageEvent Description When the image data arrive this event will be triggered 125 VoiceSegmentEvent Description When the audio data arrive this event will be triggered Copyright Dr Robot Inc 2005 63 DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 V WiRobot DRK6080 6000 8080 8000 Specific APIs V 1 Low Level Protection Front When bumpers optional are installed on WiRobot RDK6080 6000 8080 8000 with the connection configuration shown on the right a build in low level bumper ee umper E collision protection scheme can be enabled or disabled with the next two commands When this bumper protection feature is enabled NT A The bumpers are connected to custom digital I O O 1 2 and 3 Figure V 1 WiRobot RDK6080 6000 8080 8000 Bumper Connection Configuration The wheels will stop moving forward when either bumper O or 1 is engaged there will be not affect if the wheels are moving backward The wheels will
67. ble Packing Select the checkbox to enable packing on the WFS802b Two firmware selectable packing algorithms define how and when packets are sent to the network The standard algorithm is optimized for applications in which the unit is used in a local environment allowing for very small delays for single characters while keeping the packet count low The alternate packing algorithm minimizes the packet count on the network and is especially useful in applications in a routed Wide Area Network WAN Adjusting parameters in this mode can economize the network data stream Idle Gap Time Select the maximum time for inactivity The default time is 12 milliseconds Match 2 Byte Sequence Match Bytes Send Frame Only Use to indicate the end of a series of data to be sent as one group The sequence must occur sequentially to indicate to the WFS80Oeb end of the data collection Use to indicate the end of a series of data to be sent as one group Set this value to OO if specific functions are not needed After the detection of the byte sequence indicates whether to send the data frame or the entire buffer Select True to send only the data frame Send Bytes Trailing Select the number of bytes to send after the end of sequence characters Flush Input Buffer Serial to Network With Active Select Yes to clear the input buffer with a connection that is initiated Connect from the device to
68. celeration Sensor rr andi L PELE FELU KENI Switch Custom A O Connector Expansion DC Motor DC Motor Drive POT eed Module 2 Module DC Motor Battery Voltage D a Monitoring Jumpers Switch JP_AD JP_AD2 JP_AD3 Connector Custom DI DO Expansion tom on Boars Switch Address Connector Jumpers Reserved Connector Lower Reach Upper Beach DSP LCD CPLD SCH SCHO JTAG Connector JTAG Figure L PMS5005 Connector and Jumper Locations Copyright Dr Robot Inc 2005 67 O D3 Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Note that the size of the PCB board of PMS500S is about 14 5cm x 10 2cm L Operations The PMS5005 Robot Sensing Motion Controller is designed to be running as part of the WiRobot system The hardware preparation when using the PMS5005 is just simply connecting the relevant WiRobot modules to the relevant connectors on the PMS5005 board and setting the proper jumper configurations Lower device level operations are handled by the firmware embedded in PMS5005 controller with the following functions Control 6 RC servos Driver for LCD display 6 ultrasonic sensors 2 human sensors 1 infrared distance sensor 1 temperature sensor 1 tilt acceleration sensor and 1 infrared remote sensor Can interface with different digital devices through the general digital input and output ports Can interface with different analog devices through the A D ports
69. cludes the respective mechanical structure electronic modules as Well as the software development kit SDK The mechanical structure is already pre built and the electronic system is setup with a Multimedia Controller PMB5010 a Sensing Motion Controller PMS5005 and various peripheral electronic modules The software component will be installed on a PC and is responsible to establish a wireless connection and exchange data with the robot User can develop their own applications in VC or VB using the APIs offered in WiRobot SDK ActiveX Module which accesses the sensor information sends control command and configures the system setting Copyright Dr Robot Inc 2005 18 Yan Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 l l Standard Electronics components and Operation Detail WiRobot DRK6080 8080 Specifications Table I WiRobot DRK6080 8080 Specifications On Board CPUs Over 120MIPS 16 bit fix point DSP in total On Board Storage 1M x 16 bit words flash Up to 256K x 16 bit words SRAM Degree of Freedom 2 x wheel motion 2 x camera motion Pan Tilt up to 6 servos and 6 DC motors Built in Peripheral Interface 8 bit CIF 352 x 288 Color CMOS Camera Module and Modules Audio codec and amplifier module with mic and speakers 128 x 64 graphic LCD display module 115kbps wireless module General purpose PWM DC motor control DC motors up to 6
70. controller will drive the motor to reach the target position with maximum effort Syntax DcMotorPositionNonTimeCtrAll cmdl cmd2 cmd3 cmd4 cmd5 cmd6 Parameter short cmd Target position for channel 1 short cmde Target position for channel 2 short cmd3 Target position for channel 3 short cmd4 Target position for channel 4 short cmd5 Target position for channel 5 short cmd6 Target position for channel 6 Return value void Remarks 1 2 Copyright Dr Robot Inc 2005 All DC motors will be enabled automatically by the system when this command is received Target position value is in the A D sampling data range O to 4O95 when using single potentiometer O 4428 when using dual potentiometers Please refer to the description of GetSensorPot for data converting between angular values and the A D sampling data values When using encoder as sensor input the target position value is the pulse count in the range of O 32767 52 Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 5 When some motors are not under controlled their command values should be set as 32768 Ox8000 That means NO CONTROL See also DcMotorPositionNonTimeCtr 100 void DcMotorVelocityTimeCtrAll short cmdl short cmd2 short cmd3 short cmd short cmd5 short cmd6 short timePeriods Description DcMotorVelocityTimeCtrAll sen
71. ctory Defaults DevAddr No DevAddr No DevAddr No Dev Addr Datagram Mode Datagram Type Configures remote IP or network broadcast address and the remote port Enter Ol for directed or broadcast UDP Accept Incoming Select Yes to accept incoming UDP datagrams Endpoint Configuration Local Port Enter the local port number Remote Port Enter the port number of the remote device Remote Host Enter the IP address of the remote device Change Address Field enabled when Datagram Type is set to FD Enter values between Table 1 255 to identify units on the local network of device servers Copyright Dr Robot Inc 2005 124 Ke e QA Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 IV 6 6 WLAN Configuration Without adequate protection a wireless LAN is susceptible to access by unauthorized users As such WFS80eb includes the Wired Equivalent Privacy WEP encryption standard as an additional means of security To configure the WFS802b s WLAN settings l Select WLAN from the main menu to open the WLAN Settings window Figure IV 8 WLAN Settings File Edit View Favorites Tools Help Heak gt O A A Qsearch Favorites Zeie A D Sp Ol aA p esci ieren E Or Robot Firmware Version 5 8 0 1 MAC Address 00 20 48 82 E6 84 ker WLAN Settings Network Server Serial Tunnel Network Interface WLAN E Hostlist Channel
72. cuss how to program user s applications Several sample applications with source code are provided to help user kick start in using the WiRobot system All these source code will be stored in the SampleApps folder under the WiRobot SDK installation location V 1 Using WiRobot SDK Component ActiveX Control When user starts to write an application he she first adds the WiRobot SDK Component in your VB or VC project The ActiveX object is installed during the installation process and the following is a step to step guideline showing how to incorporate the ActiveX Control into a VB 6 0 project Create a new VB project Copyright Dr Robot Inc 2005 le o DY Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Click Project in the menu and choose the Components zm Project Microsoft Visual Basic design file Edit View Project Format Debug Run Query Diagram Tools Add Ins Window Help Dal na VHKBSRAR Project Project ES e Add Property Page Project1 Project No Add User Document B E Forms Add WebClass S D Formi Form Add Data Report Add DHTML Page Add Data Environment More Activex Designers gt gt n mp Remove Formi Formi Form z References Returns sets the text displayed in an object s title Figure V 1 Using ActiveX module under VB Step 1 Uncheck the Selected Items Only box to show all co
73. d 4095 Remarks To detect human motion direction the application should compare the difference of two samples of each sensor module s output to detect the change from absence to presence and then compare the sample data of the two sensor modules For a single source of human motion the different patterns of the two sensor modules manifest the directions of the motion The relationship can be obtained from the experiments 11 1 4 Tilt and Acceleration Sensor Copyright Dr Robot Inc 2005 34 D3 Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 29 short GetSensorTiltingX 30 short GetSensorTiltingY Description GetSensorTiltingX GetSensorTiltingY return the current tilt angle values in the relevant directions from DTA510e Tilting and Acceleration Sensor Module Syntax ival GetSensorTiltingX X direction ival GetSensorTiltingY Y direction Parameter void Return value short ival Return data interpretation Tilting Angle ArcSin ival ZeroGValue abs 90DegreeGValue ZeroGValue Remarks Where 90DegreeGValue and ZeroGValue are module specific values that can be measured by experiment l Place the sensor level so that the gravity vector is perpendicular to the measured sensor axis Take the measurement and this value would be the ZeroGValue Rotate the sensor so that the gravity vector is
74. d exit from the Change Setup menu to save all changes and reboot the device All values are stored in nonvolatile memory or Select option 8 Exit without save from the Change Setup menu to exit the configuration mode without saving any changes or rebooting Copyright Dr Robot Inc 2005 D3 Or Robot 115 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 IV 6 Configuration using Web Manager This chapter describes how to configure the WFS802b using Web Manager DrRobot s browser based configuration tool The unit s configuration is stored in nonvolatile memory and is retained without power The unit performs a reset after the configuration is changed and stored This chapter includes the following topics Accessing WFS80ceb using Web Manager Network Configuration Server Configuration Host List Configuration Channel land Channel 2 Configuration WLAN Configuration OEM Pin Configuration Updating Settings IV 6 1 Accessing WFS802b using Web Manager Follow the instructions to configure the unit s MAC address 1 Using Serial Port to set the IP For more information on the Serial Port Access see Server on page 98 2 Configure WLAN parameter For more information on the Serial Port Access see WLAN on page 111 Figure IV 1 Web Manager Z Dr Robot WiFi Module Device Server Microsoft Internet Explorer File Edit View Favorites Tools Help Back gt
75. d the WiRobot hardware system Programs developed using WiRobot SDK runs on the PC sending and receiving data to and from the WiRobot hardware via wire or wireless connection The firmware on the embedded controllers take care of all the low level operations of the system functional modules such as data acquisition fast loop low level motion control image and audio capture and compression audio playback and wireless communication They are transparent to the high level software system running on the central PC controller All the system software development can be carried on solely under user friendly PC system WiRobot SDK for Windows is available for MS Visual C and MS Visual Basic environment API exists as a MS ActiveX component called WiRobot SDK ActiveX Module User program uses this component in VB or VC program to communicate with the WiRobot PMS5005 or and Copyright Dr Robot Inc 2005 27 o 3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 PMB5010 controllers Data in between WiRobot hardware and the WiRobot SDK ActiveX Module is managed and transferred by the supplied WiRobot Gateway Program WiRobotGateway exe with the shared memory as shown in Figure Il 2 PC Software Programming Framework High level Programs High level Programs High level Programs Al Al Al Applications Applications Applications Navigation
76. dia Controller will send back the latest frame of the image data to the WiRobot shared memory after receiving TakePhoto command Use SavePhotoAsBMP to obtain the image Syntax TakePhoto Parameter void Return value void Remarks Each TakePhoto command will get one frame of image 122 BOOL SavePhotoAsBMP LPCTSTR FileName Description SavePhotoAsBMP saves current frame of image data into BMP format file FileName Syntax bVal SavePhotoAsBMP FileName Parameter LPCTSTR FileName the file name with full path for saving image data in bmp format Return value BOOL bVal True success False failure to save Copyright Dr Robot Inc 2005 62 DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Remarks l Before calling SavePhotoAsBMP the TakePhoto command needs to be called to request image taken 2 When the image data arrive the call back event ImageEvent will be fired 3 The cause of failure to save could be caused because the TakePhoto command was not sent or the file name path is invalid IV 1 3 LCD Display 123 void LcdDisplayPMB LPCTSTR bmpFileName Description LcedDisplayPMB displays the image data in the file bmpFileName BMP format on the graphic LCD connected to the Multimedia Controller PMB5010 Syntax LcdDisplayPMB bmpFileName Parameter LPCTSTR bmpFileName Full path of the BMP file for displ
77. distance data is precisely presented by the time interval between the instant when the measurement is enabled and the instant when the echo signal is received There is an on board oscillator that significantly reduces the burden of the controller to transmit signal with the required frequency The DUR5200 is very easy to use and can be simply plug in to the WiRobot PMS5005 Sensing and Motion Controller board The PMS5005 shipped with WiRobot SDK for PC will handle the critical timing functions and distance calculation Vil 1 1 Features On board oscillator U cm to 340 cm effective range LO KHz working frequency Plug and play in the WiRobot system VILL Applications Mobile robot environment map building Obstacle detection collision avoidance Robot range finder General purpose distance detection VII 2 Operations Vil 2 1 Theory of Operation The DUR5200 works by means of ultrasonic wave 4O KHz that is beyond the range of human hearing Sound wave propagation speed in the air is 343 5 m s when the ambient air temperature is 20 C By detecting the propagation time of the sonic wave between the sensor and the object if any in the path of the wave the controller is able to calculate the distance Vil 2 2 Running as Part of WiRobot System When using the DUR5200 with the WiRobot system user can simply connect the module to one of the ultrasonic sensor module connectors on the PMS5005 controller board and the PMS5005 built in sensor de
78. ditions MIN TYP MAX Unit Power Supply Voltage Vcc 4 9 5 0 5 1 V Current Consumption Vcc 5V 45 50 mA Working Frequency 4o KHz Effective Range 25 C 4 340 cm Directivity 130 Board Size 30 x 48 mm x mm Copyright Dr Robot Inc 2005 DA Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada www DrRobot com Tel 905 943 9572 Fax 905 943 9197 136 VIII DTA5102 Two Axis Tilt and Acceleration Sensor Module VIII Introduction The DTA510e Tilt and Acceleration Sensor Module is capable of measuring both the static acceleration tilt or orientation caused by the Earth s gravity or the shock caused by an impact The module uses a CMOS micro machined accelerometer IC combined with on board low pass filters and signal amplifiers The measurement range of the DTA510e2 module is l g VIIL 21 1 Features l g tilt and shock detection On board low pass filters and signal amplifiers Linear output Plug and play in the WiRobot system VILL Applications Robotic application Vibration monitoring Impact Acceleration measurement Tilt orientation and posture measurement Handheld appliance control Virtual reality input devices Electronic diagnostic system VIII 2 Operations VILL Theory of Operation The structure of the micro machined accelerometer is shown as Figure VILL The sensing cell is a micro machined variable capacitive device The center plate moves with the acceleration and hence
79. ds the velocity control command to all 6 DC motor control channels on the Sensing and Motion Controller PMS5005 at the same time The command includes the target velocities and the time period to execute the command The trajectory planning method for time control is linear Syntax DcMotorVelocityTimeCtrAll cmd cmd2 cmd3 cmd4 cmd5 cmd6 timePeriods Parameter short cmd Target velocity for channel 1 short cmde Target velocity for channel 2 short cmd3 Target velocity for channel 3 short cmd4 Target velocity for channel 4 short cmd5 Target velocity for channel 5 short cmd6 Target velocity for channel 6 short timePeriod Executing time in milliseconds Return value void Remarks L Motor will be enabled automatically by the system when this command is received 2 No velocity is available for motor channel using single potentiometer sensor 3 The unit of the velocity is Position change in A D sampling data second when using dual potentiometer sensor for rotational position measurement and pulse second when using quadrature encoder U Please refer to the description of GetSensorPot for data conversion between angular values and the A D sampling data values 5 When some motors are not under controlled their command values should be set as 32768 Ox8000 That means NO CONTROL See also DcMotorVelocityTimeCtr 101 void DcMotorVelocityNonTimeCtrAll short cmdl short cmd2 short cmd3 shor
80. e Ball Bearing Servos 120 mm High Torque Ball Bearing y pai Servos Sonar Sensor 100 mm Human Sensor 360 Rotary Sensor a MAA A 180 mm 70 mm Y i 4 1 i PWM Full Position Velocity controlled DC Motors i L i 200 mm Note the dimension and location are for description purpose only exact value is subject to change without notice Figure 2 WiRobot DRK8080 1 3 Electrical 1 3 1 Power The DRK6080 8080 is powered by a single 7 2V battery pack This battery pack is connected to both PMS5005 and PMB5010 through a switch User can turn on or turn off the system both PMS5005 and PMB5010 by pressing the switch behind the head 1 3 2 Communication In the DRK6O80 8080 system PMS5005 and PMB5010 are connected together between PMB5010 s Lower Reach SCIl and PMS5005 s Upper reach SCIO A wireless module is placed on PMB5010 s Upper Reach SCIO in order to communicate with a PC Copyright Dr Robot Inc 2005 22 0 D3 Or Robot Semone 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 1 3 3 Electrical Modules In this system all electrical modules are located and connected as followed Table 3 Electrical Modules Located and Connection Electrical Module DRK6080 Location Setting DRK8080 Location Setting reen IIe Drees see Ire eme ls eegene T Servo 1 To control the left right To control the up down movement of the n
81. eck use movement of the neck use channel 1 channel 1 Servo 2 To control the up down To control the left right movement of the neck use movement of the neck use channel 2 channel 2 ch nel 3 i G channel 3 Servo 4 In between eyes to control the up down rotation of the eyes use channel 5 Servo 5 In between eyes to control the left right rotation of the eyes use channel 6 DC Motor 1 with dual rotary Left use channel 1 Left use channel 1 sensors DC Motor 2 with dual rotary Right use channel 2 Right use channel 2 sensors Speaker KT Please refer to Chapter IV PMS5005 Page 67 for details on how to connect different sensors DC motors servos and LCD display to the system For camera speaker and microphone please refer to Chapter IV II PMB5010 Page 82 Copyright Dr Robot Inc 2005 23 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 LI Other Specification Table I 4 Other Specification ll Miscellaneous II 1 Battery Recharging User can simply take out the battery at the lowest deck of the robot to recharge It will normally take about 20 hours to fully recharge the 2100mAh battery if slow charging is chosen Fast charge would take about 1 2 hours L Sensor Location User can change the sensor mounted on the robot to different location to suit his her needs As well user can add new sensors to
82. el cmdValue Parameter short channel 0 1 2 3 4 0r5 short cmdValue Target Pulse Width ms 2250 Return value void Remarks Please refer to the remarks under ServoTimeCtr See also ServoTimeCtr 109 void ServoTimeCtrAll short cmdl short cmd2 short cmd3 short cmd short cmd5 short cmd6 short timePeriod Description ServoTimeCtrAll sends the position control command to all 6 servo motor control channels on the Sensing and Motion Controller PMS5005 at the same time The command includes the target position commands and the time period to execute the command The current trajectory planning method for time control is linear Syntax ServoTimeCtrAll cmdl cmd2 cmd3 cmd4 cmd5 cmd6 timePeriod Parameter short cmd Target position for channel 1 Copyright Dr Robot Inc 2005 57 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 short cmde Target position for channel 2 short cmd3 Target position for channel 3 short cmd Target position for channel 4 short cmd5 Target position for channel 5 short cmd6 Target position for channel 6 short timePeriod Executing time in milliseconds Return value void Remarks l Please refer to the remarks under ServoTimeCtr 2 When some servo motors are not under controlled their command values should be set as 32768 Ox8000 That means NO CONTROL
83. emory Syntax voiceLength GetVoiceSegLength Parameter void Return value long voiceLength Length of current voice data See Also GetVoiceSegment 119 void StartRecord short voiceSegment Description StartRecord sends start recording command to the Multimedia Controller PMB5010 The recorded voice data in length specified by voiceSegment will be stored in the shared memory segment Syntax StartRecord voiceSegment Parameter short voiceSegment segment number for voice data range 1 10 Return value void Remarks The parameter voiceSegment specify the time of voice segment unit is 256 millisecond about 1 4 sec Value could be 1 10 For example if voiceSegment is 4 1 024 second voice will be recorded VoiceSegmentEvent event will fired when the data is ready Copyright Dr Robot Inc 2005 61 D3 or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 120 void StopRecord Description StopRecord sends stop recording command to the Multimedia Controller PMB5010 SDK will not send recorded voice data to PC any more Syntax StopRecord Parameter void Return value void Remarks There will be no effect if the Multimedia Controller is not recording IV 1 2 Image Capturing 121 void TakePhoto Description TakePhoto sends image capturing command to the Multimedia Controller PMB5010 The Multime
84. ending 7 void EnableCustomSensorSending 8 void EnableAllSensorSending Description EnableMotorSensorSending enables batch updating motor related sensor packets EnableStandardSensorSending enables batch updating standard sensor packets EnableCustomSensorSending enables batch updating custom sensor packets EnableAllSensorSending enables batch updating all the sensor packets Syntax EnableMotorSensorSending motor related sensors EnableStandardSensorSending standard sensors EnableCustomSensorSending custom sensors EnableAllSensorSending allthe sensors Parameter void Return value void Remarks l The latest request setting of the packet number and the update rate are used 2 By default all sensor data sending is enabled 3 Please refer to the remarks under SystemMotorSensorRequest SystemSatndardSensorRequest SystemCustomSensorRequest SystemAllSensorRequest 9 void DisableMotorSensorSending Copyright Dr Robot Inc 2005 30 Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 10 void DisableStandardSensorSending LL void DisableCustomSensorSending l2 void DisableAllSensorSending Description DisableMotorSensorSending disables batch updating motor related sensor packets DisableStandardSensorSending disables batch updating standard sensor packets DisableCustomSensorSending di
85. ensor Module Pyroelectric Human Motion Sensor Module Tilt Acceleration Sensor Module Ambient Temperature Sensor Module Sharp IR Distance Measuring Sensor Module RS23z2 Interface Module WFS80e2b WiFi802 11b Wireless Serial Module BAS8100 8 Ohm 1W Speaker MAC5310 Audio Codec and Audio Power Amplifier Module SAM5247 Uni directional Electret Microphone KS 38kHz Infrared Remote Controller Module 1 38kHz Infrared Remote Controller 1 R5232 Cross over Serial Cable 1 128x64 Graphic LCD Module 1 Rotary Sensor Module 4 DC Motor 2 BPN7220 7 2V Ni MH 2100mAh Battery Pack 1 1 Copyright Dr Robot Inc 2005 20 D3 Or Robot o 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 L Mechanical Specification The following two diagrams illustrate the mechanical structure of the WiRobot DRK6080 and DRK8080 system Camera 160 mm N N N Human Sandi High Torque Ball Bearing Servos 360 Rotary Sensor 180mm 70 mm PWM Full Position Velocity controlled DC Motors D i 200 mm 1 1 1 1 1 1 gt 1 1 1 Note the dimension and location are for description purpose only exact value is subject to change without notice Figure LL WiRobot DRK6080 Copyright Dr Robot Inc 2005 2l O D3 Or Robot Semone 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 High Torqu
86. ents SDK developed for MS VC and VB programming environment Multiple PC programs are also allowed to access the data information obtained from the sensors simultaneously High level schemes such as tele operation navigation reasoning learning recognition and image processing routines are programmed and executed on the PC remotely Multi robot coordination is also feasible for applications like soccer game Microsoft Visual Studio programming environment is chosen as the development platform due to its popularity and ease of use than the non user friendly embedded programming interface Note that communication protocol for WiRobot system is also available for developers researchers who prefer to use different platform or operating systems to communicate and control the WiRobot system But this document focuses on how to use the WiRobot system using the SDK under Microsoft platform As well WiRobot system already comes with low level drivers for all its electronic modules and can provide a flexible way for users to control the robot For instance it allows user to control standard servo motors and DC motors by using the built in commands available in the control command library which offers several types of DC motor control method including open loop PWM closed loop position control closed loop velocity control and closed loop current control Control parameters are also configurable Copyright Dr Robot Inc 2005 6 Wi Dr Robot www D
87. er a carriage return ASCII OxOD or a line feed OxOA No blanks or space characters may be in the command string Between the first and last command string characters must be a full or partial destination IP address and Copyright Dr Robot Inc 2005 D3 Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada 103 gt Q Fax 905 943 9197 Tel 905 943 9572 can include a destination port number The IP address must be in standard dot decimal notation and may be a partial address representing the least significant 1 2 or 3 bytes of the remote IP address The period is required between each pair of IP address numbers If present the port number must follow the IP address must be presented as a decimal number in the range 1 65535 and must be preceded by a forward slash ASCII Ox2F The slash separates the IP address and the port number If you omit the port number from a command string the internally stored remote port number starts a connection If a partial IP address is presented in a command string it is interpreted to be the least significant bytes of the IP address and uses the internally stored remote IP address to provide the most significant bytes of the IP address If the IP address entered is 0 0 0 0 0 the device server enters Monitor Mode For example if the remote IP address already configured in the unit is 129 1 2 3 then an example command string would be C3 7 This wo
88. ermits the control of the transmission rate The default is a data rate up to 11Mbps The current value is displayed in parentheses Data rate Only O 1 L 2 5 5 3 11 Mbps or Up to 4 2 5 5 5 6 11 Mbps 6 Power Management Power management reduces the overall power consumption of the WFS80eb unit Enabling power management increases the response time The current value is displayed in parentheses Enable power management N IV 5 6 Expert Settings Note Change these settings via Telnet or serial connections only Caution Only an expert should change these parameters These changes hold serious consequences TCP Keepalive Time TCP Keepalive time defines how many seconds the unit waits during a silent connection before checking whether the currently connected network device is still on the network If the unit does not receive a response it drops that connection TCP Keepalive time in s 1s 65s Os disable 45 ARP Cache Timeout When the unit communicates with another device on the network it adds an entry into its ARP table ARP Cache timeout defines the number of seconds 1 600 the unit waits before timing out this table ARP Cache timeout in s ls 65s Os disable 600 IV 5 7 Security Settings Note As recommended set security over the dedicated network or over the serial setup If the parameters are set over the network Telnet 9999 someone el
89. ernal connection attempts Accept with modem_control_in Active accepts external connection requests only when the modem_control_in input is asserted Cannot be used with Modem Mode Always Accept accepts any incoming connection when a connection is Copyright Dr Robot Inc 2005 S 122 or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 not already established Start Character If Active Connect is set to With Start Character enter the start character in this field Modem Mode Indicates the on screen response type when in Modem Mode if enabled Endpoint Configuration Local Port Enter the local port number Auto increment local port number Select to auto increment the local port number for new outgoing connections The range of auto incremented port numbers is 50 000 to 59 999 and loops back to the beginning when the maximum range is reached Remote Port Enter the remote port number Remote Host the IP address of the remote device Common Options Telnet Mode This field is available for configuration only when Active Connection is not set to None Select Enable to permit Telnet communication to the WFS80ceb unit Terminal Name This field is available for configuration only when Telnet Mode is set to Enable Use the terminal name for the Telnet terminal type Enter only one name When this opt
90. es how long the unit should wait before sending accumulated characters This wait period is between successive network segments containing data For alternate packing the default interval is 12 ms Trailing Characters In some applications CRC Checksum or other trailing characters follow the end of sequence character this option helps to adapt frame transmission to the frame boundary Send Characters If 2 Byte Send Character Sequence is enabled the unit interprets the sendchars as a 2 byte sequence if this option is not enabled the unit interprets them independently If Send Immediately After Characters is not set any characters already in the serial buffer are included in the transmission after a transmit condition is found If this option is set the unit sends immediately after recognizing the transmit condition sendchar or timeout Note A transmission might occur if status information needs to be exchanged or an acknowledgment needs to be sent DisConnTime Inactivity Timeout Use this parameter to set an inactivity timeout The unit drops the connection if there is no activity on the serial line before the set time expires Enter time in the format mm ss where m is the number of minutes and s is the number of seconds DisConnTime O O To disable the inactivity timeout enter 00 00 Range is O disabled to 5999 seconds 99 minutes 59 seconds The default is O SendChar 1 and SendChare Enter up to two c
91. es up to 20 kHz Automatic PWM over current limiting Output short circuit protection Over temperature output current reduction and shutdown Under voltage shutdown Analog output current feedback 3 Connectors for position feedbacks Directly plug on to the WiRobot PMS500S5 sensing and motion controller board IL L Applications DC motor and stepper motor control Permanent magnet solenoid control Robotic systems General PWM power amplifier Ill 2 Operations ILL Theory of Operation When four switches configured as that in Figure ILL the whole circuit is called an H bridge By controlling the on off of four switches in certain patterns the polarity of the supply power on the control output can be changed For example when Control Input 1 and 4 are ON while the Control Input d and 3 are OFF the controlled load is supplied by power with on the left and on the right When Control Input 1 and 4 are OFF while the Control Input 2 and 3 are ON the controlled load is supplied by power with on the left and on the right When applying the H bridge output to a DC motor or other inductive loads with PWM controlled switching command based on certain algorithms and the feedback signals full bidirectional magnitude control including speed position and torque control can be achievable Copyright Dr Robot Inc 2005 88 Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 9
92. etwork Security Security As an additional security measure enable WEP on the WFS8Oeb By default WEP is disabled on WFS802b Authentication Select an authentication scheme None or Shared from the drop down menu Encryption Select the encryption type from the pull down menu 128 bits is the default encryption Encryption Key Field is enabled when WEP is selected as the Security type Enter the Encryption Key in hexadecimal value Advanced Settings Data Rate WFS80ce5 permits the control of the transmission rate Select the data rate in Mbps from the pull down menu Radio Power Management Power management reduces the overall power consumption of the WFS80ceb unit Selecting Enable increases the response time IV 6 7 OEM Pin Configuration There are 11 configurable hardware pins on the WFS80eb unit For each pin configure the pin function communication direction and its activity level To configure the WFS802b s OEM Configurable Pins l Click Configurable Pins from the main menu to open the Configurable Pins window Figure IV 9 Configurable Pins Settings 3 Dr Robot WiFi Module Device Server Microsoft Internet Explorer um x File Edit Weu Favorites Tools Help Back gt DA A Qsearch Favorites meda lt 4 D Sh OG El Address E htto 192 168 0 251 gt oe Links gt Or Robot Firmware Version 5 8 0 1 ke Network Server Seria
93. f 16363 means 50 duty cycle putting motor in Stop stage Any value in between 16364 32767 will put the motor to turn clockwise facing the front side of the motor and any value in between O 16362 will put the motor to turn counter clockwise LL When some motors are not under controlled their command values should be set as 32768 Ox8000 That means NO_CONTROL See also DcMotorPwmTimeCtr 103 void DcMotorPwmNonTimeCtrAll short cmdl short cmd2 short cmd3 short cmdU short cmd5 short cmd6 Description DcMotorPwmNonTimeCtrAll sends the PWM control command to all 6 DC motor control channels on the Sensing and Motion Controller PMS5005 at the same time The command includes the target PWM values without specific execution time period The motion controller Send the desired PWM pulse width right away Syntax DcMotorPwmNonTimeCtrAll cmdl cmd2 cmd3 cmd4 cmd5 cmd6 Parameter short cmd Target PWM value for channel 1 short cmde Target PWM value for channel 2 short cmd3 Target PWM value for channel 3 short cmdU Target PWM value for channel 4 short cmd5 Target PWM value for channel 5 short cmd6 Target PWM value for channel 6 Return value void Remarks L All channel motors will be enabled automatically by the system when this command is received 2 Target pulse width value range is O to 32767 Ox7FFF corresponding to the duty cycle of O to 100 linearly 3 A pulse width
94. g serial input output The current value is displayed in parentheses Flow 0 Use the following table to select flow control options Table IV 7 Flow Control Options Flow Control Option Hex No flow control OO XON XOFF flow control Ol Hardware handshake with RTS CTS lines 02 XON XOFF pass characters to host 05 Port Number The Port No setting represents the source port number in TCP connections It is the number that identifies the channel for remote initiating connections The port number functions as the TCP UDP source port number for outgoing packets Packets sent to the Copyright Dr Robot Inc 2005 101 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 unit with this port number are received to this channel The port number selected is the Incoming TCP UDP port and Outgoing TCP UDP source port Port No 10001 The current value is displayed in parentheses The default setting for Port 1 is 10001 The range is 1 65535 except for the following reserved port numbers Table IV 8 Reserved Port Numbers Port Numbers Reserved for 1 1024 Reserved 9999 Telnet setup 14000 14009 Reserved for Redirector 30704 Reserved 77FOh 30718 Reserved 77FEh Note It is recommended to not use the reserved port numbers for this setting as incorrect operation may result Use Port O for the ou
95. g the upgrade process Figure 1 5 Physical Connection D Close all WiRobot software on PC e g WiRobot Gateway and all sample applications 5 Start the hyper terminal which comes with MS Windows OS give a name to this new connection and choose the COM port that is connected to the PMS5005 normally COM or COMe2 as shown in the following figure Enter dass for the phone martes that you want to dat Aipa code DI Bennie TT ov EEE AAN L el ca ato die A ndeiegt PEO o MN Figure 1 6 Choosing COM Port Connection Copyright Dr Robot Inc 2005 Dor Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 76 6 Configure the COM port with the setting 115200 8 N 1 Xon Xoff and turn on the Echo typed characters locally under Properties gt Settings gt ASCII Setup If your PC is slow you can turn off this echo option for shorter download time but you will not see the download process during the upgrade Fw nl sci set Ais Fees ASCII Sending Send line ends with line feeds Bits per second 115200 z ally SE Ke Line delay 0 milliseconds Character delay 0 milliseconds Parity None x Stop bits fi DI m ASCII Receiving Append line feeds to incoming line ends Fl ol Is A F o Ge Force incoming data to 7 bit ASCII IV Wrap lines that exceed terminal width e
96. haracters in hexadecimal representation SendChar 1 0 SendChar 2 0 If the unit receives a character on the serial line that matches one of these characters it sends the character immediately along with any awaiting characters to the TCP connection This action minimizes the response time for specific protocol characters on the serial line for example ETX EOT Setting the first SendChar to OO disables the recognition of the characters Alternatively the unit can interpret two characters as a sequence Telnet Terminal Type Copyright Dr Robot Inc 2005 110 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 This parameter displays only H the terminal type option is enabled in Disconnect Mode If this option is enabled use the terminal name for the Telnet terminal type Enter only one name If the terminal type option is enabled the unit also reacts to the EOR end of record and binary options which can be used for applications such as terminal emulation to UNIX hosts Channel Port Password This parameter appears only if the channel port password option is enabled in Disconnect Mode If the option is enabled set a password on the serial port IV 5 4 Email Configuration Reserved IV 5 5WLAN Settings Without adequate protection a wireless LAN is susceptible to access by unauthorized users As such WFS802b includes the Wired Equi
97. iRobot DRK8000 Controller DND 14 V 3 Sample Application 2 WiRobot DRK6000 8000 Controller DNCoal 15 VEE Other Sample Appetit Eeer 16 Vi EE 16 VEI System Updates E 16 Chapter Il DRK6080 8080 System Specification sscscsssscessessssseesssssseesssessessssssssesaesesesaeans 17 l WiRobot DRK6080 8080 Overview E 18 1 1 Standard Electronics components and Operation Detail EEN 19 L Mechanical Specificato sr aaa EES Eege 2l 1 3 Sanga a AE a a Na AE 22 PING Other a ike n AN Na NAN a NAN NG NT AN NE RRi 24 IL MiscellanGOws sasar aan an an paga nang ag aa agan ENEE EES 24 IRL Ba tt ry R chatgiMg sranani nE NTs 24 I2 Sensor LO CaO sana nagan nisi Nana nga Nga anana n 24 Wed IAMOWIN E E E E E A E E E deine 24 Chapter IlI WiRobot SDK Application Programming Interface API For MS Windows 25 l OAV TMI eene ee Il WiRobot SDK OVeivie ae E T e ann ecient dan eel IL WiRobot SDK API Reference for PMS5005 een ILL Sensor Peripherals Whe IMotion Gontrol saa aaa aaa Aa EES WB Multimedia ee EE WIR Evente ae ar an BA ss el ah a EN eR ORs OCD kanan KR Ih IV WiRobot SDK API Reference for PMB5010 IN Multimedia Control musrana tier EENEG Eege Copyright Dr Robot Inc 2005 1 DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 VIII DTA5102 Two Axis Tilt and Acceleration Sensor Module Ver e WiRobot DRK6080 6000 8080 8000 Specific APIs
98. ion is enabled the unit also reacts to the EOR end of record and binary options which can be used for applications such as terminal emulation to IBM hosts Connect Response A single character is transmitted to the serial port when there is a change in connection state Default setting is None Use Hostlist If this option is set to True the device server scrolls through the host list until it connects to a device listed in the host list table Once it connects the unit stops trying to connect to any others If this connection fails the unit continues to scroll through the table until it is able to connect to another IP in the host list The host list is disabled for Manual Mode and for Modem Mode The unit will not accept a data connection from a remote device when the host list option is enabled LED Select Blink for the status LEDs to blink upon connection or None for no LED output Disconnect Mode On Mdm _Ctrl_In Drop Set to Yes for the network connection to or from the serial port to drop when modem_control_in transitions from a high state to a low state Hard Disconnect With EOT When set to Yes the TCP connection closes even if the remote site does not acknowledge the disconnect request Choose Yes to drop the connection when Ctrl D or Hex OU is detected Both Telnet mode and Disconnect with EOT must be enabled for Disconnect with EOT to function properly Ctrl D is only detected going fro
99. ion of rotation GetEncoderPulseX returns the current pulse counter to indicate the position of rotation GetEncoderSpeedX returns the current speed of rotation Syntax ival GetEncoderDir1 direction of channel 1 ival GetEncoderDir2 direction of channel 2 ival GetEncoderPulsel pulse counter of channel 1 ival GetEncoderPulse2 pulse counter of channel 2 ival GetEncoderSpeedl speed of channel 1 ival GetEncoderSpeede speed of channel 2 Parameter void Return value short ival Return data interpretation 1 GetEncoderDirX returns 1 O or 1 1 stands for positive direction l stands for negative direction and O stands for no movement 2 GetEncoderPulseX returns pulse counter It is an integral value to rotation with range of O 32767 in cycles 3 GetEncoderSpeedX returns the rotation speed The unit is defined as pulse change within 1 second And it is the absolute value See also SetDcMotorSensorUsage Copyright Dr Robot Inc 2005 Lu DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 ILL LLCustom Analog and Digital Inputs and Outputs 64 short GetCustomAD1 65 short GetCustomADe2 66 short GetCustomAD3 67 short GetCustomAD4U 68 short GetCustomAD5 69 short GetCustomAD6 70 short GetCustomAD7 71 short GetCustomAD8 72 short GetCustomAD short channel Description GetCusto
100. ition command and the time period to execute the command The current trajectory planning method for time control is linear Syntax ServoTimeCtr channel cmdValue timePeriod Parameter short channel 0 1 2 3 4 or 5 short cmdValue Target Pulse Width ms 2250 Copyright Dr Robot Inc 2005 56 Yan Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 short timePeriod Executing time in milliseconds Return value void Remarks l Target position value for cmdValue Pulse width in millisecond 2250 2 Usually a standard remote control servo motor expects to get the specified pulse width in every 20 milliseconds in order to hold the corresponding angle position The pulse width value in millisecond for O 90 and 180 are servo manufacturer and model dependant they are around lms 1 5ms and d Oms respectively for most common servos Experiments are required to obtain the exact value which varies for different servo motors 108 void ServoNonTimeCtr short channel short cmdValue Description ServoNonTimeCtr sends the position control command to the specified servo motor control channel on the Sensing and Motion Controller PMS5005 The command includes the target position command without specific execution time period The motion controller will send the desired pulse width to the servo motor right away Syntax ServoNonTimeCtr chann
101. l Tunnel Hostlist Channel 1 Configurable Pins Apply Settings Apply Factory Defaults MAC Address 00 20 48 82 E6 84 Configurable Pin Settings Function Direction Trigger Input Active Level General Purpose y0 zl input Output D C Low High Diagnostics LED zl C Low High Modem Ctl Channel 1 Ou Modem Ctl Channel2 Out zl Serial Channel Status LED zl Serial Channel 2 Status LED D nput Output D nput Output Low High D nput Output Low High Q nput Output Low High a nput Output Low High K nput Output Low High Ka nput Output Low High Ka input Output Low High nput Output Low High CH inte 8 8 ES ES pE nput Output Low High o Be ag internet 7 Copyright Dr Robot Inc 2005 126 Jo Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 d Configure or modify the following fields for each pin Function From the pull down menu select the purpose of the specified pin Active Level Select the signal active level Low or High Direction Select whether the pin inputs or outputs IV 6 8 Updating Settings Click the Apply Settings button from the main menu to save and apply the configuration changes Copyright Dr Robot Inc 2005 127 3 Or Robot www DrRobot com 25 Valleywood Dr Uni
102. layed in parentheses Remote IP Address O 0 Note This option is not displayed when Hostlist is enabled from the ConnectMode prompt Remote Port Set the remote TCP port number for the unit to make outgoing connections This parameter defines the port number on the target host to which a connection is attempted To connect an ASCII terminal to a host using the unit for login purposes use the remote port number 23 Internet standard port number for Telnet services Remote Port 0 Note This option is not displayed when Hostlist is enabled from the ConnectMode prompt DisConnMode Disconnect Mode DisConnMode determines the conditions under which the unit will cause a network connection to terminate The current value is displayed in parentheses DisConnMode 0 In DisConnMode modem_control_in either drops the connection or is ignored The following table displays the available input options Table IV 13 Disconnect Mode Options Disconnect Mode Option 7 6 5 4 3 2 1 0 Disconnect with l modem_control_in drop 5 Ignore modem_control_in 0 Telnet mode and terminal type l setup 1 Channel port password 2 l Hard disconnect 3 O Disable hard disconnect State LED off with connection 4 l Disconnect with EOT amp D P 1 1 The WFS802b sends the Terminal Type upon an outgoing connection 2 A password is required
103. lleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 SetDcMotorVelocityControlPID sets up the PID control parameters of the specified DC motor control channel for velocity Syntax SetDcMotorPositionControlPID channel K K K _x100 SetDcMotorVelocityControlPID channel K K K _x100 Parameter short channel 0 1 2 3 4 orp short K Proportional gain short K Derivative gain short K_x100 100 times K the desired Integral gain when K_x100 100 the actual integral control term is K 1 K _x100 with range of O 25599 Return value void Remarks l When setting K O that means NO integral control 2 System default value for position control K 50 K 5 K _xl00 O 3 System default value for velocity control K 50 K 5 K _xl00 O See Also SetDcMotorControlMode 88 void SetDcMotorTrajectoryPlan short channel short TrajPlanMthod Description This function is obsolete 89 void SetDcMotorSensorFilter short channel short FilterMethod Description This filtering feature is still under development All data will be treated as raw data 90 void SetDcMotorSensorUsage short channel short SensorType Description SetDcMotorSensorUsage sets the sensor type for the specified DC motor control channel on the Sensing and Motion Controller PMS5005 The available sensor types are single potentiometer dual potentiometers and quadrature encoder
104. lt codes l 1l a Incoming Connection Never Accept Incoming Rejects all external connection attempts Accept with modem_control_in Active Accepts external connection requests only when the modem_control_in input is asserted Cannot be used with Modem Mode Always Accept Accepts any incoming connection when a connection is not already established Default setting b Response Character Response A single character is transmitted to the serial port when there is a change in connection state C connected D disconnected N host unreachable This option is overridden when the Active Start Modem Mode or Active Start Host List is in effect Default setting is Nothing quiet No Active Startup Does notattempt to initiate a connection Default setting With Any Character Attempts to connect when any character is received from the serial port Accept with modem_control_in Active Attempts to connect when the modem_controlin input changes from not asserted to asserted With a Specific Start Character Attempts to connect when it receives a specific start character from the serial port The default start character is carriage return Manual Connection Attempts to connect when directed by a command string received from the serial port The first character of the command string must be a C ASCII Ox43 and the last character must be eith
105. m 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 ll WiRobot SDK Overview WiRobot Software Development Kit SDK is a part of the WiRobot development system Being a PC based software framework for robotic system development the SDK contains the facilities for memory management system communication and user interface and the utilities for audio video input output sensor data acquisition and motion control Please refer to the Chapter IV PMS5005 Chapter VI PMB5010 or Chapter II X80 for the detailed information on the SDK architecture organization and system programming Under the WiRobot system architecture all the controllers are connected in a chain Programs developed using WiRobot SDK runs on the Host as the central controller of each chain All the embedded controllers have at least two SCI ports for the system communications upper reach port and lower reach port with the direction respect to the central controller The WiRobot system controller level connection architecture is shown as Figure II 1 Board to Board Connection or Cable Communication Module Required for Wireless Connection ZL Board to Board Connection or Cable Communication b 4 RY Upper Reach SCI Module Required for Wireless Connection D Lower Reach SCI Figure ILL WiRobot System Architecture The APIs described in this manual are the interface between the application level software an
106. m the serial port to the network Inactivity Timeout Use this parameter to set an inactivity timeout The unit drops the connection if there is no activity on the serial line before the set time expires Enter time in the format mm ss where m is the number of minutes and s is the number of seconds To disable the inactivity timeout enter 00 00 Copyright Dr Robot Inc 2005 D3 Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada 123 Dre Fax 905 943 9197 Tel 905 943 9572 Connection Settings UDP To configure a channel s UDP settings l From the main menu click Connection for either Channel 1 or Channel 2 to display the Connection Settings page for the selected channel 2 Inthe available fields enter the following information Connect Protocol Protocol Select UDP from the pull down menu Figure IV 7 UDP Connection Settings Z Dr Robot WiFi Module Device Server Microsoft Internet Explorer File Edit View Favorites Tools Help lt Back gt DA Asearch Favorites media lt 4 Ze HG Ey Firmware Version 5 8 0 1 MAC Address 00 20 48 82 E6 84 Connection Settings Network Serves Channel 1 Connect Protocol Protocol DOSS Datagram Mode Datagrarn Type or z Accept Incoming Yes z Endpoint Configuration vonne Local Port bom Remote Port 0 Configurable Pins Remote Host fi 92 168 0 1 Device Address Table Apply Settings Apply Fa
107. mADxX returns the sampling value of the custom analog to digital input signals By default custom AD1 AD3 are used as the inputs of power supply voltage monitors for DSP circuits DC motors and servo motors User can change this setting by configuring the jumpers on PMS5005 Please refer to Chapter IV 1 PMS5005 Robot Sensing and Motion Controller Page 67 for detailed information on hardware jumper setting Syntax ival GetCustomAD1 for battery of DSP circuits or custom A D channel 1 ival GetCustomADe for battery of DC motors or custom A D channel 2 ival GetCustomAD3 battery for servo motors or custom A D channel 3 ival GetCustomADU custom A D channel 4 ival GetCustomAD5 custom A D channel 5 ival GetCustomAD6 custom A D channel 6 ival GetCustomAD7 custom A D channel 7 ival GetCustomAD8 custom A D channel 8 ival GetCustomAD short channel custom A D channel 1 2 3 4 5 6 7 or 8 Parameter void short channel 0 1 2 3 4 5 6 or 7 for channel 1 2 3 4 5 6 7 8 Return value short ival Return data interpretation Copyright Dr Robot Inc 2005 La DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 The return data is the raw value of the analog to digital converter indicating the input voltage levels The data range is between O and 4095 The voltage levels can be calc
108. me motors are not under controlled their command values should be set as 32768 Ox8000 That means NO CONTROL See also DcMotorVelocityNonTimeCtr 102 void DeMotorPwmTimeCtrAll short cmdl short cmd2 short cmd3 short cmd short cmd5 short cmd6 short timePeriods Description DcMotorPwmTimeCtrAll sends the PWM control command to all 6 DC motor control channels on the Sensing and Motion Controller PMS5005 at the same time The command includes the target PWM values and the time period to execute the command The current trajectory planning method for time control is linear Syntax DcMotorPwmTimeCtrAll cmd cmd2 cmd3 cmd4 cmd5 cmd6 timePeriods Parameter short cmd Target PWM value for channel 1 short cmde Target PWM value for channel 2 short cmd3 Target PWM value for channel 3 short cmdU Target PWM value for channel 4 short cmd5 Target PWM value for channel 5 short cmd6 Target PWM value for channel 6 Copyright Dr Robot Inc 2005 su Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 short timePeriod Executing time in milliseconds Return value void Remarks L All channel motors will be enabled automatically by the system when this command is received 2 Target pulse width value range is O to 32767 Ox7FFF corresponding to the duty cycle of O to 100 linearly 3 A pulse width value o
109. mponents choose the WiRobot SDK ActiveX Module and click OK by Project Microsoft Visual Basic design Bile Edt View Project Format Debug Run Query Diagram Tools Add Ins Window Help Ip n EG k n Controls Designers Insertable Objects Ctrialoc 1 0 Type Library D TSHOOT OLE Control module D VB 6 Application Wizard pject1 Project1 VB 6 Data Form Wizard Forms CYB 6 MSChart Wizard D Formi Formi VIDTC1 1 0 Type Library CVIDTC2 1 0 Type Library D vidtc3 C VisModelBrowser C webshel 1 0 Type Library Clwebvw 1 0 Type Library D Windows Media Player Activex module the displayed in an object s title LR Figure V 2 Using ActiveX module under VB Step 2 Anew icon on the left menu bar will appear and user can simply drag and drop this icon to the Project s Form and start using the APIs offered by this ActiveX control By default the variable name of this component is WiRobotSDK1 Copyright Dr Robot Inc 2005 13 O Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 ma Projecti Microsoft Yisual Basic design IDI File Edit View Project Format Debug Run Query Diagram Tools Add Ins Window Help S b Blee sBemlooul 1 RFBSRAD i Project Project1 x is Project1 Form1 Form o o R Pm lolx Project1 Projecti Formi Form Alphabetic Categorized Name Form D Appearance 1
110. mx DO mm x15 mm Copyright Dr Robot Inc 2005 95 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 IV 5 Configuration via Serial Mode or Telnet Port Configure the unit so that it can communicate on a network with your serial device The WFS80eb5 unit is configurable using a terminal program to access the serial port locally Using this terminal program to respond to prompts is referred to as the Setup Mode A Telnet connection may also be used to configure the unit over the network The unit s configuration is stored in nonvolatile memory and is retained without power You can change the configuration at any time The unit performs a reset after the configuration has been changed and stored Note The menus in this section show a typical device Not all devices display information in the same manner This chapter includes the following topics Accessing Setup Mode Server Configuration Channel 1 and Channel 2 Configuration Email Configuration WLAN Settings Expert Settings Security Settings Factory Defaults Exit Configuration Mode Figure IV 1 Connection WFS80e2b with MCR3210P RS232 Interface Module IV 5 1 Accessing Setup Mode Telnet Access To configure the unit over the network establish a Telnet connection to port 9999 1 From the Windows Start menu click Run 2 From the Run dialogue box type the following command where x x x x is the IP
111. n Temperature C 100 ival 980 11 6 33 short GetSensorTemperature Description GetSensorTemperature returns the current temperature value from DAT5280 Ambient Temperature Sensor Module Syntax ival GetSensorTemperature Parameter void Return value short _ ival Return data interpretation Temperature C ival 1256 34 8 11 1 6 Infrared Remote Control Handling 34 short GetSensorIRCodel 35 short GetSensorlRCodee2 36 short GetSensorlRCode3 37 short GetSensorIRCodeH Description GetSensorlRCodeX returns the four parts of a two 16 bit code infrared remote control command captured by the Sensing and Motion Controller PMS5005 through the Infrared Remote Controller Module MIR5500 Syntax ival GetSensorIRCodel the first code ival GetSensorIRCodee the second code ival GetSensorlIRCode3 the third code Copyright Dr Robot Inc 2005 36 DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 ival GetSensorlRCodel the fourth code Parameter void Return value short ival Return data interpretation The recovered infrared remote control command 4 bytes code is as follows Key Code the third byte the second byte the first byte Repeat Code the fourth byte where the repeat code would be 255 if button is pressed continuously 38 void SetinfraredControlOutput UWord16 Lo
112. n Sensor Module When using the DHM5150 with a third party controller the power supply and the input output signals should be connected properly please refer to Section IX 3 The controller can get the human information data via an analog to digital converter There are analog outputs one is the human motion MS and the other one is the human alarm AS When no human presents output voltage of MS and AS is 1 5V The change of AS is basically 5 times larger than MS due to the on board amplifier The closer the human and the faster the motion will cause the longer voltage change shown in MS and AS Note that when using two sets of the DHM5150 for human motion detection the moving direction information can be identified by analyzing the pattern timing and magnitude of two sensor output signals IX 3 Connections 1X 3 1 Board Structure Figure IX 2 illustrates the structure of the board 47 With Lens Figure IK 2 DHM5150 Structure 1X 3 2 Connector Description The DHM5150 can be connected to the controller system via a 4 pin 2 54 mm pitch single row connector Table IX DHM5150 Connector Pin Name Function l Vcc Positive power source 5 V DC d MS Human motion signal analog output 3 AS Human presence alarm analog output d GND Power ground Copyright Dr Robot Inc 2005 142 o OS Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax
113. nc 2005 10 o JA Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 IV 2 1 Connecting the cable and module Connect Serial cable make sure the serial cable is connected to the COM socket of your PC at one end and the other end should be connected to the RS232 interface module RS232 Figure IV 4 Connection of RS232 with Serial Cable Unplug the serial Bluetooth wireless module which had already plugged in the lower socket board PMB5010 of the robot Figure IV 5 Upper reach SCIO of Lower Socket Board PMB5010 Then plug the RS23e2 interface module in Upper Reach SCIO on the PMB5010 which is the lower socket board of the robot Picture available in the PMB5010 Multimedia Controller User Manual Page 94 IV 2 2 Turn on the robot Check the LED lights on the socket board and find out if they are flashing on the socket board There should be 2 LED lights keep flashing fast on the upper board PMS5005 in the right rear corner of the robot and 1 LED light keep flashing on the lower board in the right front corner of the robot If these 3 LED lights are flashing the robot is started completely IV 2 3 Run the WiRobot Gateway Select COML and Serial Cable Click the Connect button when you are sure that the robot is completely started Wait 1 to 3 seconds the WiRobot Gateway will minimize automatically when connected If it is not connected close the Wi
114. nd intelligent home device 11 1 1 PMB5010 Multimedia Controller Architecture The PMB5010 offers multimedia functionalities that are required by most intelligent robotic applications Figure ll shows the system blocks of the PMB5010 The key features and capabilities are 120MIPS 16 bit fix point DSP 1Mx 16 bit words flash Upto 256K x 16 bit words SRAM Build in Real time clock Full duplex UART x2 Embedded firmware for image capturing audio recording and playback and wired and wireless communication Interfaces to _MAC5310 Audio codec and amplifier module x1 MCI3908 CMOS image sensor module 352 x 288 x1 Copyright Dr Robot Inc 2005 79 o JA Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 MCB3100 Serial Bluetooth wireless module or MCR3210 RS232 interface module x1 or WFS80eb WiFi802 11b serial wireless module Figure ILL Block Diagram of the PMB5010 Copyright Dr Robot Inc 2005 80 YA Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 ILL PMB5010 Connectors and Jumpers Figure ll 2 shows the function and location of the connectors and jumpers on the PMB5010 System Power Audio Codec and Expansion Power Expansion Supply Switch Amplifier Connector Supply Switch Power Supply System Power Supply Lower reach DSP
115. ne PC type command AT ZV SPPConnect xxxxxxxxxxxx Here XXXXXXXXXXXX S another Bluetooth module BDAddress If you can get AT ZV ConnectionUp AT ZV BypassMode the connection between PCs is setup You can type anything or transfer a file to another PC The connection command is AT ZV SPPConnect xxxxxxxXXXXXx The change baudrate command is AT ZV ChangeBaud 460800 V 3 Connections V 3 1 Board Structure Figure V 1 illustrates the structure of the board Figure V MCB3100 Structure V 3 2 Connector Description The MCB3100 is connected to WiRobot system via an 8 pin 2 54 mm pitch single row connector Table V 1 Connectors Pin Name Function l VCC 3 33 V d TKD Data transmitting 3 RXD Data receiving 4 CTS Clear to send 5 RTS Request to send 6 GND Power supply ground 7 COMRST Reserved 8 BTIN Reserved Copyright Dr Robot Inc 2005 129 3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 V 4 Specifications Table V 2 MCB3100 Specification Parameter Conditions MIN TYP MAX Unit Power Supply Voltage VCC 3 0 3 3 3 6 V Signal Pin Voltage 3 3 V RF Frequency 2400 2483 5 MHz Antenna Load 50 Ohm Low level Input Voltage VCC 3 3V 0 8 V High level Input Voltage VCC 3 3V 2 0 V Low level Output Voltage VCC 3 3V IOL 0 4 V 2mA High level Output Voltage VCC 3 3V IOH
116. nector port Table ILL Specification of Power Supplies Power Power Screw Switch Voltage Current Supply Jack Terminals Connector Range V Capacity mA System JT1 PDMT SW1 5 5 7 0 500 Expansion JT2 PSYT SW2 5 0 7 2 System Specific Copyright Dr Robot Inc 2005 D3 Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 www DrRobot com Fax 905 943 9197 81 Il 2 2 PMB5010 Jumper Settings The board address can be set to any value between O and 15 Please refer to the Table Il 2 for the setting values Table Il 2 Board Address Jumpers B ADDR Bit Pin Value 1 Value O O LSB le open 1 2 short l 3 4 open 3 U short d 5 6 open 5 6 short 3 MSB 7 8 open 7 8 short 11 2 3 PMB5010 System Communication Connections Under the WiRobot system architecture all the controllers are connected in a chain There is one and only one host serving as the central controller All other embedded controllers have at least two SCI ports for the system communications upper reach port and lower reach port with the direction respect to the central controller The system communication connection structure of the PMS5010 in the WiRobot RDK is shown in Figure 11 3 PMB5010 can work solely in the WiRobot system or together with a WiRobot Sensing and Motion controller PMS5005 Serial Cable LLL RS232 Communication i Communication Module Requi
117. nt will be triggered when this image is ready for pickup The third function will save the image to the file with destinationfileName in bitmap format V 3 Sample Application 2 WiRobot DRK6000 8000 Controller VC The second sample application demonstrates how to program a VC application using the WiRobot system The GUI of this program interface is shown as follows xi ui r Sonar Range Sensors cm The Heart of Robot FoR LcD p Temperature e Arben Head Motion 51 OverHeat 1 22 OverHeat 2 22 r Rotatory Sensor A Motor Current p Battery L mai a DS 7 6439 4 al p fo 0054s45 pe Pas 3 5 Ze eh se 7 7318 Figure V 5 GUI of the WiRobot DRK6000 8000 Controller VC To obtain an image from the robot user can call the following function where m_ctISDK is a member variable of the class CWiRobotSDK imported from the WiRobot SDK ActiveX Module m_ctISDK TakePhoto To control the robot to move forward continuously user can call the following functions m_ctISDK SetDcMotorControlMode O O m_ctISDK SetDcMotorControlMode 1 O m_ctISDK DcMotorPwmTimeCtrAll 32066 32066 32768 32768 32768 32768 800 To stop the robot the following commands can be used m_ctISDK SuspendDcMotor 0 m_ctISDK SuspendDcMotor 1 Copyright Dr Robot Inc 2005 15 35 Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel
118. og O 3 0V 13 AD_IN7 Analog O 3 0V 14 AD INS Analog O 3 0V Note Table 1 18 When the relevant power supply voltage monitoring is enabled AD INL AD ING AD_IN3 will be not available to the custom A D expansions Table 1 19 Custom Digital IJO Expansion Connector EXP GPIO Pin Signal Description 1 2 3 4 3 3 V Positive power source max LOOmA 5 D_OUTO Digital out 6 D_OUT1 Digital out 7 D_OUTe2 Digital out 8 D_OUT3 Digital out 9 D_OUTY Digital out 10 D_OUT5 Digital out 11 D_OUT6 Digital out 12 D_OUT7 Digital out 13 14 15 Ground Power supply ground 16 17 D_INO Digital in 18 D_IN1 Digital in 19 D_IN2 Digital in 20 DIN Digital in 21 D_INY Digital in Copyright Dr Robot Inc 2005 D3 Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada www DrRobot com Tel 905 943 9572 Fax 905 943 9197 75 22 DINS Digital in 23 D_ING Digital in Ek D_IN7 Digital in NOTE Table 1 19 These pins have been pulled up to logic high 3 3V internally 1 3 Procedure to upgrade the PMS5005 firmware l Download and save the latest PMS5005 firmware from www DrRobot com 2 Turn off PMS5005 and keep it off until step 9 3 Use a null modem cable to connect the PC to PMS5005 with a RS23e Interface Module MCR3210 as shown in Figure I 5 All peripheral modules e g sensors motors LCD and etc can still be plugged to the PMS5005 without affectin
119. onnect to a wireless access point or an ad hoc network It uses the Transmission Control Protocol TCP to ensure that no data is lost or duplicated and everything sent to the connection arrives correctly at the target The WFS8Oeb also supports User Datagram Protocol UDP for typical datagram applications in which devices interact with other devices without maintaining a point to point connection IV 3 Connections 1V 3 1 Board Structure Figure IV 1 illustrates the structure of the board Copyright Dr Robot Inc 2005 93 Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Lx OrRobot Figure IV WFS80ebStructure IV 3 2 Connector Description The WFS802b is connected to WiRobot system via an 8 pin 2 54 mm pitch single row connectorl COM1 Table IV 1 Connector COM1 Pin Name Function l VCC 3 33 V d RXD Data receiving 3 TXD Data transmitting d RTS Reguest to send 5 CRTS Clear to send 6 GND Power supply ground 7 NC Reserved 8 NC Reserved Table IV 2 Connectore COMe2 Pin Name Function 1 NC Reserved 2 RXD Data receiving 3 TXD Data transmitting d RTS Reguest to send 5 CRTS Clear to send 6 GND Power supply ground 7 NC Reserved 8 NC Reserved Copyright Dr Robot Inc 2005 D3 Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada www DrRobot com Tel 905 943 9572 Fax 905 943 91
120. otorPwmTimeCtr sends the PWM control command to the specified motion control channel on the Sensing and Motion Controller PMS5005 The command includes the target pulse width value and the time period to execute the command The current trajectory planning method for time control is linear Syntax DcMotorPwmTimeCtr channel cmdValue timePeriod Parameter short channel 0 1 2 3 4 0r5 short cmdValue Target pulse width value short timePeriod Executing time in milliseconds Return value void Remarks l The specified channel motor will be enabled automatically by the system when this command is received 2 Target pulse width value range is O to 32767 Ox7FFF corresponding to the duty cycle of O to 100 linearly 3 A pulse width value of 16363 means 50 duty cycle putting motor in Stop stage Any value in between 16364 32767 will put the motor to turn clockwise facing the front side of the motor and any value in between O 16362 will put the motor to turn counter clockwise Copyright Dr Robot Inc 2005 50 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 97 void DcMotorPwmNonTimeCtr short channel short cmdValue Description DcMotorPwmNonTimeCtr sends the PWM control command to the specified motion control channel on the Sensing and Motion Controller PMS5005 The command includes the target pulse width value with
121. out specific execution time period The motion controller will set the PWM output of this channel to the target value immediately Syntax DcMotorPwmNonTimeCtr channel cmdValue Parameter short channel 0 1 2 3 4 or 5 short cmdValue Target pulse width value Return value void Remarks l The specified channel motor will be enabled automatically by the system when this command is received 2 Target pulse width value range is O to 32767 Ox7FFF corresponding to the duty cycle of O to 100 linearly 3 A pulse width value of 16363 means 50 duty cycle putting motor in Stop stage Any value in between 16364 32767 will put the motor to turn clockwise facing the front side of the motor and any value in between O 16362 will put the motor to turn counter clockwise See also DcMotorPwmTimeCtr 98 void DcMotorPositionTimeCtrAll short cmdl short cmd2 short cmd3 short cmd short cmd5 short cmd6 short timePeriod Description DcMotorPositionTimeCtrAll sends the position control command to all 6 DC motor control channels on the sensing and motion controller PMS5005 at the same time The command includes the target positions and the time period to execute the command The current trajectory planning method for time control is linear Syntax DcMotorPositionTimeCtrAll cmdl cmd2 cmd3 cmd4 cmd5 cmd6 timePeriod Parameter short cmd Target position for channel 1 short cmde Target position fo
122. perature sensing Thermal control X 2 Operations X 2 1 Typical performance characteristics The performance characteristics are shown in the figures X 1 and K 2 If needed the temperature accuracy error could be removed by calibration on the individual module basis a EE EE EE ER 3500 20 0 20 40 60 80 100 Temperature T Figure X 1 Output Voltage vs Ambient Temperature Copyright Dr Robot Inc 2005 144 o 35 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 A pe EI S lt D SS E WW E E i iel R R SES EES rime Site EIS PN SP R CIS Ambient Temperature Figure X 2 Accuracy vs Temperature X 2 2 Running as part of WiRobot System When using the DAT5280 with WiRobot system user can simply connect the module to the temperature sensor module connector on the PMS5005 controller board and the PMS5005 built in sensor device driver will take care of the data acquisition Users can simply call a function offered by the WiRobot SDK software on PC requires Microsoft platform or send a data request packet platform independent to obtain the data X 2 3 Running as a General Purpose Temperature Sensor Module When using the DAT5280 with a third party controller the power supply and the input output signals should be connected properly please refer to Section IX 3 The controller can get the temperature data via an
123. ply call a function offered by the WiRobot SDK software on PC requires Microsoft platform or send a data packet platform independent to control the DC motors or to obtain the sensor feedback Please refer to Chapter III WiRobot SDK API Page 26 and Chapter IV I PMS5005 Page 67 for the available motor control algorithms and schemes IIl 2 3 Running as a General Purpose DC Motor Driver Module When using the MDM5253 with third party controllers the power supply and the input output signals should be connected properly please refer to Section III 3 for connection setting The controller sends control commands to the enable pins and the PWM input pins based on your own control schemes and get current and position feedback data via an analog to digital converter IL 3 Connections IL 31 Board Structure Figure IL 3 shows the structure locations and functions of the connectors on the MDM5253 module board Load Srew Terminals 654321 Position Sensor Connector POT3 POT2 PON Control Feedback Signal Signal Connector Connector Figure IL 3 MDM5253 Connector Locations I11 3 2 Connector Description The definitions of the MDM5e253 connector signals are listed in the following tables Table Ill Connections of the Load Screw Terminals MOTOR Terminals Name Description l OUTlA Channel 1 output A 2 OUT1B Channel 1 output B 3 OUTe2A Channel 2 output A 4 OUT2B Channel 2 output B 5 OUT3A Channel 3 output A 6 OU
124. pply can be connected to the PMS5005 supporting board system circuits System Power Supply DC Motor Power Supply and Servo Motor Power Supply respectively These power supplies could be connected to the PMS5005 either through the screw terminals or through the power jacks Near each screw terminal there is a connector port for connecting the power switch or emergency button for each power supply By default all three connector ports are connected together If power switches are needed you could disconnect the connection and add a switch in between for each connector port Table l l shows the specification of the power supplies Refer to Section II 2 5 for the connections of the power jacks and terminals Table l l Specification of Power Terminals Power Supply Power Screw Switch Voltage Max Peak Current Jack Terminals Connector Range V A Copyright Dr Robot Inc 2005 68 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 System Jl PSY Sl O 5 5 7 2 N A DC Motor Je PDM S1 1 6 0 25 0 12 Servo Motor J3 PSM S2 l 5 0 7 2 8 The system power supply is required at all time for the operation of this board and the power consumption of PMS5005 without connecting any peripheral modules is about 350mA using a 7 2V battery pack We also recommend the use of three different power sources in powering the PMS5005 System
125. r Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 The return data is the raw value of the analog to digital converter indicating the output voltage of the monitor The data range is between O and 4095 The following equation can be used to calculate the real voltage values Voltage ival 4095 6 V I11 1 8 Potentiometer Position Sensors DL short GetSensorPotl US short GetSensorPot2 UG short GetSensorPot3 47 short GetSensorPotl L short GetSensorPot5 La short GetSensorPot6 50 short GetSensorPot short channel Description GetSensorPotX returns the current value of the relevant potentiometer position sensors GetSensorPot short channel returns the current value of the specified potentiometer position sensor Syntax ival GetSensorPotl Potentiometer sensor 1 ival GetSensorPote Potentiometer sensor 2 ival GetSensorPot3 Potentiometer sensor 3 ival GetSensorPotl Potentiometer sensor 4 ival GetSensorPot5 Potentiometer sensor 5 ival GetSensorPot6 Potentiometer sensor 6 ival GetSensorPot channel Potentiometer sensor 1 2 3 4 5 or 6 Parameter void for GetSensorPotX short channel 0 1 2 3 4 or 5 for Potentiometer 1 2 3 4 5 6 Return value short ival Return data interpretation and Remark l The return data is the raw value of the analog to digital converter indicating the output
126. r unit s serial port The default serial port settings are 9600 baud 8 bits no parity 1 stop bit no flow control 2 Reset the WFS80e2b unit by cycling the unit s power turning the power off and back on Immediately upon resetting the device enter three lowercase x characters Copyright Dr Robot Inc 2005 97 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 xxx Note The easiest way to enter Setup Mode is to hold down the x key at the terminal or emulation while resetting the unit This must be done within three seconds of resetting the WFS802b 3 Upon connection the following information displays Figure IV 3 MAC Address MAC address OO2OUAFFFF30 Software version 05 3 040129 WPT Press Enter to go into Setup Mode U To enter the Setup Mode press Enter within 5 seconds Note Connection fails if Enter is not pressed within 5 seconds The configuration settings display followed by the setup menu options Figure IV Setup Menu Options Change Setup O Server 1 Channel 1 2 Channel 2 3 Email 4 WLAN 5 Expert 6 Security 7 Factory defaults 8 Exit without save 9 Save and exit Your choice 5 Select an option on the menu by entering the number of the option in the Your choice field and pressing Enter View the current configuration by pressing Enter from the Change Setup menu To enter a value fo
127. r a parameter type the value and press Enter To confirm a current value press Enter without inputted parameters 6 When finished save the new configurations 9 Save and exit The unit reboots IV 5 2 Server Configuration The unit s basic server i e network values display upon selecting Server option O from the Change Setup menu The following sections describe the configurable parameters within the Copyright Dr Robot Inc 2005 98 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Server configuration menu Set the IP Address If DHCP is not used to assign IP addresses enter it manually The IP address must be set to a unique value in the network Enter each octet and press Enter between each section inputted The current value is displayed in parentheses IP Address 0 0 0 0 Set the Gateway IP Address Set the The gateway address or router allows communication to other LAN segments The gateway address should be the IP address of the router connected to the same LAN segment as the unit The gateway address must be within the local network The default is N No indicating the gateway address has not been set To set the gateway address type Y At the prompt enter the gateway address Set Gateway IP Address N Y Gateway IP addr O O 0 0 Netmask A netmask defines the number
128. r channel 2 short cmd3 Target position for channel 3 short cmd4 Target position for channel 4 short cmd5 Target position for channel 5 short cmd6 Target position for channel 6 short timePeriod Executing time in milliseconds Copyright Dr Robot Inc 2005 51 Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Return value void Remarks L 2 All DC Motors will be enabled automatically by the system when this command is received Target position value is in the A D sampling data range O to 4O95 when using single potentiometer O 4428 when using dual potentiometers Please refer to the description of GetSensorPot for data converting between angular values and the A D sampling data values When using encoder as sensor input the target position value is the pulse count in the range of O 32767 When some motors are not under controlled their command values should be set as 32768 Ox8000 That means NO_CONTROL See also DcMotorPositionTimeCtr 99 void DcMotorPositionNonTimeCtrAll short cmdl short cmd2 short cmd3 short cmd short cmd5 short cmd6 Description DcMotorPositionNonTimeCtrAll sends the position control command to all 6 DC motor control channels on the Sensing and Motion Controller PMS5005 at the same time The command includes the target positions without specific execution time period The motion
129. r interface x6 o Motor current feedback interface x6 o Potentiometer position feedback sensor interface x6 Quadrature encoder x2 Standard RC servo motor x6 DUR5200 Ultrasonic range sensor module x6 DHM5150 Human sensor module x2 DAT5280 Ambient temperature sensor module x1 GP2YOAe1YK Infrared range sensor x1 DTA5102 2 axis tilt acceleration sensor module x1 Custom A D x 8 including 3 channels of optional battery voltage monitoring It can connect to MSA350z2 if signal amplifying is needed Custom digital input x8 Custom digital output x8 MGL5128 Graphic LCD display module 128 x 64 x1 MIR5538 5540 Full duplex infrared remote control and communication module x1 Copyright Dr Robot Inc 2005 66 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 _PMBS5010 Multimedia controller x1 _MCB3100 Serial Bluetooth wireless module or MCR3210 RS23e2 interface module xl or WFS80eb WiFi802 11b Serial wireless module JTAG Connector Connector Custom DI DO Connector Figure LL Block Diagram of the PMS5005 1 1 2 PMS5005 Connectors and Jumpers Figure l 2 shows the function and location of the connectors and jumpers on the PMS5005 Temperature Sensor Quadrature x Human IR Remote PEN Uttrasonic Sensors ei IR pala Eiaa ussus3usi de Range kah US6USY usa pah Sensor TN Module Tilt Ac
130. r the serial connection Valid baud rates are 300 600 1200 2400 4800 9600 default 19200 38400 57600 115200 230400 460800 or 921600 The current value is displayed in parentheses Baudrate 9600 _ I F Interface Mode The Interface I F Mode is a bit coded byte entered in hexadecimal notation The current value is displayed in parentheses I F Mode UC _ Copyright Dr Robot Inc 2005 2 e CS Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 100 The following table displays available I F Mode options Table IV 5 Interface Mode Options I F Mode Option 7 6 5 4 3 2 1 0 RS 23ec 1 o 7 Bit 1 0 8 Bit 1 1 No Parity 0 0 Even Parity l 1 Odd Parity 0 1 l stop bit O l 2 stop bitsl 1 l 1 2 stop bits are implemented by the software This might influence performance Note If attempting to select an I F Mode bit pertaining to RS 422 485 a WARNING RS 422 485 I F Modes not supported message displays The following table demonstrates some common I F Mode settings Table IV 6 Common Interface Mode Settings Common I F Mode Setting Binary Hex RS 232C 8 bit No Parity 1 stop bit 0100 1100 Uc RS 232C 7 bit Even Parity 1 stop bit 01111000 78 Flow Flow control sets the local handshaking method for stoppin
131. rRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 ILL Software Components The WiRobot system comes with a CD containing the following software components and documents WiRobot Gateway which is used to connect the PC to the robot and show the connection status An ActiveX control called WiRobot SDK ActiveX Module with a set of APIs is provided for user to access the robot when developing his her own applications in MS VC or VB Several PC sample applications with source code is provided to demonstrate the capabilities of the WiRobot system and WiRobot documents The latest documents can be found on www drrobot com In the WiRobot system low level electronic drivers are pre programmed and embedded in the WiRobot controllers PMS5005 and PMB5010 Data information such as image audio sensor information and etc are available to the user via the WiRobot ActiveX control developed for MS VC and VB program environment or by using the WiRobot communication protocol Using this ActiveX control user can also send various control commands to the robot A general connection architecture of the WiRobot system is shown as follows LA Connection or Cable Serial Cable RS232 d s SEENEN SE Communication Ss Upper Reach SCI Wireless Connection Module TI Lower Reach SCI Serial Cable LLL RS232 Board to Board Connection or Cable poule Reqared for KEN
132. red for Module Wireless Connection TI Lower Reach SCI WA Serial Cable RS232 Board to Board Connection or Cable module care for KN Communication SE le Wireless Connection Lo Lower Reach SCI Figure II 3 WiRobot System Communication Architecture The system communication connectors on the PMB5010 are described in Table II 3 Refer to Section Il 2 5 for the definitions of the signals attached to the connector BLUETOOTHT and SCIT Copyright Dr Robot Inc 2005 82 Er Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Table II 3 System Communication Connectors Connector Type Description BLUETOOTHT Upper Reach SCI port with handshaking and control signals for both wired and wireless modules SCIT Lower Reach Two wire serial communication interface 11 2 4 Peripheral Modules Supported by PMB5010 Table LL lists the WiRobot peripheral modules that can be directly connected to the PMB5010 board and supported by the firmware embedded in PMB5010 Refer to the relevant chapter of these peripheral modules for the detailed technical information Table 11 4 Sub modules Supported by PMB5010 Sub module Connector Max No Description WFS80e2b BLUETOOTHT l WiFi80e2 11b wireless communication module MCB3100 BLUETOOTHT l Bluetooth wireless communication module MCR3210 BLUETOOTHT L RS232 interface module MAC531
133. river will take care of the data acquisition Users can simply call a function offered by the WiRobot SDK software on PC requires Microsoft platform or send a data request packet platform independent to obtain the data VIIl 2 3 Running as a General Purpose Tilt and Acceleration Sensor Module When using the DTA510e2 with the third party controller the power supply and the input output signals should be connected properly please refer to Section VIII 3 The controller can get the tilt and acceleration data via an analog to digital converter The value of the angle or the acceleration can be calculated according to the equations in Section VILL For premium performance several cautions need to be taken into account when operating the system The power supply voltage should be 5 VDC nominal The length of the cable connecting the DTA5102 and controller should be as short as possible The DTA510e2 module and the controller should not be in a high current path If using switching power supply be aware of the switching frequency may interfere with the DTA5102 module VILL 3 Connections VILL 31 Board Structure Figure VIII 3 shows the board structure Figure VIII 3 DTA5102 Structure VIII 3 2 Connector Description The DTA5102 can be connected to the controller system via a 4 pin 2 54 mm pitch single row connector Table VIII 1 Tilt and Acceleration Sensor Connectors Pin Name Function l VCC Positive power
134. rmware Version 5 8 0 1 MAC Address 00 20 48 82 E6 84 Connection Settings Network Sc Channel 1 Connect Protocol Protocol X Connect Mode Passive Connection Active Connection Accept Incoming Yes H Active Connect Nome zl Password Required C Yes No Start Character md in Hex Configurable Pins Password LT Nodem Mode None Apply Settings Apply Factory Defaults Endpoint Configuration Serial Tunnel Hostlist Local Port bom Auto increment for active connect Remote Port 0 Remote Host 0 0 0 0 Common Options Telnet Mode Disable z Connect Response None z Terminal Name Use Hostlist C yes No LED Blink z Disconnect Mode On Mdm CH In Drop C Yes No Hard Disconnect Yes C No Check EOT Ctrl D C Yes No Inactivity Timeout fo 0 mins secs x 3 Inthe available fields enter the following information Connect Mode Passive Connection Accept Incoming Select Yes to accept incoming connections Password Determines whether a password is required for an incoming passive Required connection Field is not available when a password is set for Telnet mode Password If Password Required was set to Yes enter the password for passive connections Connect Mode Active Connection Port Settings Active Connect Select None to disable Active Connect Otherwise indicate the connection type from the available list Never Accept Incoming rejects all ext
135. rs and Potentiometers to PMS5005 In order to connect DC motors and potentiometers to the PMS5005 MDM5e253 DC Motor Driver Module with Position and Current Feedback is required Each MDM5253 can control up to 3 DC motors and 3 potentiometers and each PMS5005 can connect up to 2 MDM5253 The potentiometer can be used as the position feedback of the DC motor for precise position and velocity control Connector MOTORI1 IN and MOTOR1 OUT on PMS5005 are used to connect to a MDM5253 for DC Motor 1 2 3 and Potentiometer 1 2 3 and connector MOTORe IN and MOTORe OUT are used to connect to a MDM5253 for DC Motor U 5 6 and Potentiometer 4 5 6 For details on how to connect DC motors and potentiometers to the MDM5c53 please refer to the Chapter IV III MDM5253 Page 89 1 2 6 Connecting Custom Sensors Devices to PMS5005 The PMS5005 has 8 digital inputs 8 digital outputs and 8 custom A D extensions These ports can all be used to connect to different sensors or output devices For example user can connect gyroscope more infrared distance sensors or other analog signal devices to PMS5005 by making use of the available A D extensions If a user just wants to have better infrared sensing capabilities in his her robot the PMS5005 can support up to 9 infrared distance sensors GP2YOA21YK through its IR range sensor port and the 8 custom A D expansions 1 2 7 Sample WiRobot Connection Using PMS5005 The following figure illustrates a simple way in
136. sables batch updating custom sensor packets DisableAllSensorSending disables batch updating all the sensor packets Syntax DisableMotorSensorSending motor related sensors DisableStandardSensorSending standard sensors DisableCustomSensorSending custom sensors DisableAllSensorSending all the sensors Parameter void Return value void See Alao SystemMotorSensorRequest SystemStandardSensorRequest SystemCustomSensorRequest SystemAllSensorRequest 13 void SetSysMotorSensorPeriod short PeriodTime 14 void SetSysStandardSensorPeriod short PeriodTime 15 void SetSysCustomSensorPeriod short PeriodTime 16 void SetSysAllSensorPeriod short PeriodTime Description SetSysMotorSensorPeriod sets refresh rate of batch updating motor related sensor packets SetSysStandardSensorPeriod sets refresh rate of batch updating standard sensor packets SetSysCustomSensorPeriod sets refresh rate of batch updating custom sensor packets SetSysAllSensorPeriod sets refresh rate of batch updating all the sensor packets Syntax SetSysMotorSensorPeriod motor related sensors SetSysStandardSensorPeriod standard sensors SetSysCustomSensorPeriod custom sensors SetSysAllSensorPeriod allthe sensors Parameter short PeriodTime Update period in ms for batch sensing Copyright Dr Robot Inc 2005 31 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 F
137. se could capture these settings Caution Disabling both Telnet Setup and Port 77FE prevent users from accessing the setup menu from the network Copyright Dr Robot Inc 2005 112 Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Disable SNMP Reserved SNMP Community Name Reserved Disable Telnet Setup Note If this option is disabled note that disabling both Telnet Setup and Port 77FE prevents users from accessing the setup menu from the network This setting defaults to the N No option The Y Yes option disables access to Setup Mode by Telnet port 9999 It only allows access locally via the web pages and the serial port of the unit Disable Telnet Setup N Disable TFTP Firmware Upgrade Reserved Disable Port 77FE Hex Reserved Disable Web Server The Y Yes option disables the web server This setting defaults to the N option Disable Web Server N Disable Web Setup The Y Yes option disables configuration via the Web Manager This setting defaults to the N option Disable Web Setup N Disable ECHO Ports This setting controls whether the serial port echoes characters it receives The current value is displayed in parent Disable ECHO ports Y Enable Enhanced Password This setting defaults to the N option which permits a 4 character password protec
138. sor Connectors US 1 6 Pin Name Signal Description l VCCA 5 0 V d URS Ultrasonic echo receiving signal active rising edge 3 UTE Ultrasonic transmitting enable active high 4 GND Power supply ground Table 1 10 Tilt and Acceleration Sensor Connector TILT Pin Name Signal Description l VCCA 5 0 V d AYD Y direction signal analog O 3 0V 3 AXD X direction signal analog O 3 0V 4 GND Analog ground Table 1 11 Human Motion Sensor Connectors HUMANT 2 Pin Name Signal Description l VCCA 3 0 V d HMG Human motion signal analog O 3 0V 3 HAS Human presence alarm analog O 3 0V 4 GND Analog ground Table I 12 Temperature Sensor Connector TEMPERATURE Pin Name Signal Description l VCCA 5 0 V 2 TVS Temperature Data analog O 3 0V 3 GND Analog ground Table 1 13 Infrared Remote Controller Connector INFRAR Pin Name Signal Description l VCC 3 33 V d IRK Receiving from external device digital 3 ITX Transmitting to external device digital d GND Power supply ground Copyright Dr Robot Inc 2005 D3 Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada www DrRobot com Tel 905 943 9572 Fax 905 943 9197 73 Table 1 14 Servo Motor Connectors SM1 6 Pin Name Signal Description l SCL Servo motor control d VSM Positive servo motor power supply 3 GND Servo motor power supply ground Table
139. sorPot 91 void SetDcMotorControlMode short channel short controlMode Description SetDcMotorControlMode sets the control mode of the specified DC motor control channel on the Sensing and Motion Controller PMS5005 The available control modes are open loop PWM control closed loop position control closed loop velocity control Syntax SetDcMotorControlMode channel controlMode Parameter short channel 0 1 2 3 4 or 5 short controlMode O Open loop PWM Control 1 Closed loop Position Control 2 Closed loop Velocity Control Return value void Remarks System s default setting for control mode is Open loop PWM Control See also SetDcMotorPositionControlPID SetDcMotorVelocityControlPID Copyright Dr Robot Inc 2005 U7 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 92 void DcMotorPositionTimeCtr short channel short cmdValue short timePeriod Description DcMotorPositionTimeCtr sends the position control command to the specified motion control channel on the Sensing and Motion Controller PMS5005 The command includes the target position and the target time period to execute the command The current trajectory planning method with time control is linear Syntax DcMotorPositionTimeCtr channel cmdValue timePeriod Parameter short channel 0 1 2 3 4 or 5 short cmdValue Target position value short
140. source 5 V DC d YOUT Y direction signal analog output 3 XOUT X direction signal analog output d GND Power supply ground Copyright Dr Robot Inc 2005 139 DOr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 VILL Specifications Table VIII 2 DTA510e Specification Parameter Conditions MIN TYP MAX Unit Power Supply Voltage VCC 4 75 5 0 5 25 V Current Consumption vcc 5V 10 15 mA Acceleration Measuring Range ffll g Nonlinearity 2 0 2 0 Bandwidth Response 30 Hz Board Size 30x 48 mm xX mm Copyright Dr Robot Inc 2005 Da Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada www DrRobot com Tel 905 943 9572 Fax 905 943 9197 140 IK DHM5150 Human Motion Sensor Module IX 1 Introduction The DHM5150 Human Motion Sensor Module incorporates a pyroelectric infrared sensor to detect infrared energy radiation from human body The DHM5150 is able to detect human presence like security alarm in the range up to 500 cm With the use of two modules human moving direction can also be detected in the range up to 150 cm Typical applications include a general purpose security alarm and human presence and motion sensing in a robot system LX LI Features Human infrared radiation detection On board signal conditioning Human presence detection up to D meters Human motion direction up to 1
141. sponse Without Echo In Modem Mode echo refers to the echo of all of the characters entered in command mode it does not mean to echo data that is transferred Quiet Mode without echo refers to the modem not sending an answer to the commands received or displaying what was typed Full Verbose The unit echoes modem commands and responds to a command with a message string shown in the table below 1 Character The unit echoes modem commands and responds to a Response command with a single character response Table IV LL Modem Mode Messages Message Meaning Full Verbose OK Command was executed without error CONNECT A network connection has been established NO CARRIER A network connection has been closed A remote device having IP address n n n n is connecting to RING n n n n this device 1 Character Response O OK l Connected d Ring 3 No Carrier 4 Error Received commands must begin with the two character sequence AT and be terminated with a carriage return character The unit ignores any character sequence received notstarting with AT and only recognizes and processes single AT style commands The unit treats compound AT commands as unrecognized commands If the Full Verbose option is in effect the unit responds to an unrecognized command string that is otherwise formatted correctly begins with AT and ends with carriage return with the OK message and takes no further ac
142. ss modules SCI Lower Reach Two wire serial communication interface reserved for future use 1 2 4 Connecting Peripheral Modules Supported by PMS5005 Table I 5 lists the WiRobot peripheral modules that can be directly connected to the PMS5005 board and supported by the firmware embedded in PMS5005 Refer to the relevant chapter of these peripheral modules for the detailed technical information Table 1 5 Peripheral Modules Supported by PMS5005 Peripheral Connector Max Description Module No WFS80e2b BTOOTH 1l WiFi80e 11 wireless communication module MCB3100 BTOOTH 1 Bluetooth wireless communication module MCR3210 BTOOTH 1l RS232 interface module Copyright Dr Robot Inc 2005 D3 Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 www DrRobot com Fax 905 943 9197 70 DUR5200 US 1 6 6 Ultrasonic range sensor DTA5102 TILT 1 2 Axis tilting and acceleration sensor DHM5150 HUMANI 2 2 Human motion sensor DAT5280 TEMPERATURE 1l Ambient temperature sensor MIR5538 5540 INFRAR 1 Infrared remote controller module MDM5e253 MOTORL IN 2 3 channel DC motor driver module OUT with position and current feedback MOTORz2_IN OUT 3rd party SM1 6 6 3rd party servo motor 3rd party ENCODERI1 2 d 3rd party guadrature encoder GP2YOAe21YK RANGE 1 Infrared range sensor MGL5128 LCD 1 Mono Graphic LCD display module 128x64 1 2 5 Connecting DC Moto
143. st Address Enter or modify the host s IP address Port Enter the target port number Copyright Dr Robot Inc 2005 D3 Dr Robot 119 www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 IV 6 5 Channel 1 and Channel 2 Configuration Channel 1 and Channel 2 configurations define how the serial ports respond to network and serial communication Serial Settings To configure a channel s serial settings l From the main menu click Serial Settings for either Channel 1 or Channel 2 to display the Serial Settings page for the selected channel Figure IV 5 Channel Serial Settings 3 Dr Robot WiFi Module Device Server Microsoft Internet Explorer Pi um x File Edit View Favorites Tools Help Back v gt DA Aseh Favorites meda Ze 4 O A THEE is Dr Robot Firmware Version 5 8 0 1 MAC Address 00 20 48 82 E6 84 Zi Serial Settings Network Server Channel 1 be ial Veit E Disable Serial Port ostis Channel 1 Port Settings Connectior Bianca P5232 S Flow Control CTS RTS Hardware z Channel 2 Baud Rate 115200 Data Bits fa x Parity None Stop Bits fi z Pack Control Configurable Pins I Enable Packing Apply Settings Idle Gap Time a Akan AN ak Match 2 Byte Sequence yes No Send Frame Only C yes No Match Bytes Ger WII Send Trailing Bytes None One Two ex Flush Mode Flush Inpu
144. stem 4 Send Text File 21x Look in SS PMB5010 Hex e 0am AN History CM Desktop e My Documents My Computer AGI E File name robot hex My Network P Files of type fal files X Cancel Figure II 6 Locating the HEX File 9 Please read step 10 13 ahead before turning on the PMB5010 in this step 10 After you turn on the PMB5010 you should see the text Dr Robot Inc PMB5010 Bootloader V1 00 All Right Reserved 2001 2003 in the hyper terminal as shown in the following figure Copyright Dr Robot Inc 2005 86 O 3 Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Peans010 HyperTerminal a Nn lolx Fie Eat Wew Cal Tonte Melb Dei a3 ole Dr Robot Inc PHB5010 Bootloader Vi 00 All Right Reserved 2001 2003 Look irc 9 PMB5010 Hex mee ale Connected 0 01 33 Wein deed szwem oe CPs jam eren Peedo Figure IL Status after Turning on the PMB5010 11 Within 5 seconds start counting when you turn on the PMB5010 you should click the Open button on the Hyper terminal popup window Firmware download will then start If you fail to start the download within this period of time the original firmware on PMB5010 will automatically start You have to turn off the PMB5010 and repeat the download procedure again from Step 2 le When the download is started you will see the following text At the end
145. t 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 V MCB3100 WiRobot Serial Bluetooth Wireless Module V 1 Introduction The MCB3100 Serial Bluetooth Wireless Module is a class Bluetooth module with on board communication stack This device can be plugged into any UART or RS23e compatible serial port requires MCR3210P RS232 Interface Module for signal change on almost any devices without needing to install drivers It can be considered as a wireless cable to replacement for any RS232 serial cable and can be used in applications for wireless audio still image sensing and control data communications V 1 1 Features Class 2 Bluetooth operation On board communication stack Effective range 15 meters indoor 45 meters outdoor Support UART data rate 921 6 460 8 115 2 kbps Plug and play in the WiRobot system V 1 2 Applications Robotic systems both run time and development stage communication General purpose wireless data communication V 2 Operations V 2 1 Theory of Operation The MCB3100 Serial Bluetooth Wireless Module is designed to run as part of the WiRobot system It can be directly plugged on to the PMB5010 Robot Multimedia Controller board or the PMS5005 Robot Sensing and Motion Controller board When connected to the MCR3210P RS232 Interface board through a cable it can also serve as wireless links for any systems that have a standard RS232 interface PC for example By default the UART dat
146. t Buffer Flush Output Buffer With Active Connect C Yes No With Active Connect C Yes No With Passive Connect C Yes No With Passive Connect C Yes No At Time of Disconnect C yes No AtTime of Disconnect C yes No ox 2 Inthe available fields enter the following information Channel 1 Disable Serial Port Available on Channel 1 settings only When selected disables communication through the serial port Port Settings Protocol Select the protocol type from the pull down menu for the selected channel Flow Control Flow control manages data flow between devices in a network to ensure it is processed efficiently Too much data arriving before a device is prepared to manage it causes lost or retransmitted data Baud Rate The unit and attached serial device such as a modem must agree on Copyright Dr Robot Inc 2005 120 O Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 a speed or baud rate to use for the serial connection Valid baud rates are 300 600 1200 2400 4800 9600 default 19200 38400 57600 115200 230400 460800 or 921600 Data Bits Indicates the number of bits in a transmitted data package Parity Checks for the parity bit The default is None Stop Bits The stop bit follows the data and parity bits in serial communication It indicates the end of transmission Port Settings Ena
147. t Retry Counter 3 Hostlist Retry Timeout 250 msec Send Character OxOD CR All other parameters O Channel 2 Configuration Baudrate 9600 I F Mode UC 1 stop bit no parity 8 bit RS 232C Port No 10002 CO always accept incoming connection no active connection startup Hostlist Retry Counter 3 Hostlist Retry Timeout 250 msec Send Character OxOD CR All other parameters 0 WLAN Settings Enable WLAN Y Yes Find Network Name LTRX_IBSS Enable Ad Hoc Network Creation Y Yes Copyright Dr Robot Inc 2005 D3 Or Robot 114 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Name LTRX_IBSS Country O United States Channel 11 Security 0 None Data Rate 11Mbps Expert Settings TCP keepalive U5 seconds ARP cache timeout 600 seconds Security Settings Disable SNMP N No SNMP Community Name public Disable Telnet Setup N No Disable TFTP Firmware Update N No Disable Port 77FEh N No Disable Web Server N No Disable ECHO ports Y Yes Enable Enhanced password N No Disable Port 77FOh N No Email Settings Trigger Priority L Min notification interval l second All other parameters O eg Email notification and triggers are disabled IV 5 9 Exit Configuration Mode To exit setup mode Select option 9 Save an
148. t cmd short cmd5 short cmd6 Description Copyright Dr Robot Inc 2005 Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 53 DcMotorVelocityNonTimeCtrAll sends the velocity control command to all 6 DC motor control channels on the Sensing and Motion Controller PMS5005 at the same time The command includes the target velocities without specific execution time period The motion controller will drive the motor to achieve the target velocity with maximum effort Syntax DcMotorVelocityNonTimeCtrAll cmdl cmd2 cmd3 cmd4 cmd5 cmd6 Parameter short cmd Target velocity for channel 1 short cmde Target velocity for channel 2 short cmd3 Target velocity for channel 3 short cmd4 Target velocity for channel 4 short cmd5 Target velocity for channel 5 short cmd6 Target velocity for channel 6 Return value void Remarks l Motor will be enabled automatically by the system when this command is received 2 No velocity is available for motor channel using single potentiometer sensor 3 The unit of the velocity is Position change in A D sampling data second when using dual potentiometer sensor for rotational position measurement and pulse second when using quadrature encoder D Please refer to the description of GetSensorPot for data conversion between angular values and the A D sampling data values 5 When so
149. t the bottom of the robot and on the serial Bluetooth wireless module which had already been plugged in the lower socket board PMB5010 of the robot Click the Connect button when you are sure that the robot is completely started Waiting 1 to 3 minutes for the PC connecting to robot the WiRobot Gateway will minimize automatically when connected If it is not connected close the WiRobot Gateway and turn off the robot Go back to 2 and try it again 10 seconds later 6 If it is still not connected please check whether you have complete and unrestricted access to the computer and if you have plugged the serial cable in the COM serial port of your PC Detailed information can be found on page 10 of the user manual How to connect the robot directly to PC using the serial cable A Please check page 11 Q How to charge the battery A User can simply take out the battery at the lowest deck of the robot to recharge It will normally take about 20 hours to fully recharge the 2100mAh battery if slow charging is chosen Fast charge would take about 1 2 hours Copyright Dr Robot Inc 2005 148 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 WA prRobot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 CANADA T 905 943 9572 F 905 943 9197 Email info drrobot com www DRROBOT com
150. take the Ne reading Then you should rotate the sensor so that the gravity vector is parallel with the measured axis and take the V reading The equation then can be rewritten as om V eroe Vanes V JK sin 6 ZEROG ONEG The tilting angle then can be calculated by ArcSin function or by Taylor polynomial approximation 3 5 i ze 0 sin z z4 gt EA 6 0 To detect the high frequency data the sampling rate must be at least twice of the signal frequency according to Nyquist Sampling Criterion As a rule of thumb using 5 to 10 time higher sampling rate will get good results for data recovering Using some digital filter may require even higher sampling rate However sampling rate higher than 20 KHz is generally not recommended for the DTA5102 module Also be aware of the signal aliasing effects The relationship between the output voltage and the acceleration in each axis direction is shown by the following equation Vou V out ZEROG AV XAcc AG Where Acc value of the acceleration Copyright Dr Robot Inc 2005 138 Yan Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 vIll 2 2 Running as part of WiRobot System When using the DTA510e2 with the WiRobot system user can simply connect the module to the tilt sensor module connector on the PMS5005 controller board and the PMS5005 built in sensor device d
151. ted connection The time is stored as units of milliseconds in the range of 1 65535 The default is 250 c Datagram Type Directed UDP When selecting this option the prompt requests the Datagram type Enter O1 for directed or broadcast UDP When the UDP option is in effect the unit uses UDP datagrams to send and receive data d Modem Mode In Modem Emulation Mode the unit presents a modem interface to the attached serial device It accepts AT style modem commands and handles the modem signals correctly Copyright Dr Robot Inc 2005 105 Zar Dr bont e RES 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Normally there is a modem connected to a local PC and a modem connected to a remote machine A user must dial from the local PC to the remote machine accumulating phone charges for each connection Modem Mode allows you to replace modems with WFS8Oebs and to use an Ethernet connection instead of a phone call By not having to change communications applications you avoid potentially expensive phone calls To select Modem Mode set the Connect Mode to C6 no echo D6 echo with full verbose or D7 echo with 1 character response Note If the unit is in Modem Mode and the serial port is idle the unit can still accept network TCP connections to the serial port if Connect Mode is set to C6 no echo D6 echo with full verbose or D7 echo with 1 character re
152. terface Connector CODEC Pin Name Function l DOUT Data output 2 VCCH 5 0V 3 FS Frame sync 4 6 GND Power supply ground 5 DIN Data input 7 SCK Shift clock 8 MCK NC 9 RESET Reset input 10 PDN Power down input 11 FC Request input for secondary communication 12 Vcc3 3 3V V1 4 Specifications Table V1 4 MAC5310 Specification Parameter Conditions MIN TYP MAX Unit Power Supply Voltage vccs 4 5 5 0 5 5 V Power Supply Voltage VCCH 3 0 3 3 3 6 V Output Power THD 0 5 max f 1kHz 1 0 RL 8 Ohm W THD N 0 5 f 1kHz e Copyright Dr Robot Inc 2005 Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 132 Note RL 8 Ohm Analog input voltage VCC3 3 3 V d V peak to peak ADC or DAC conversion 16 kHz rate On board oscillator 8 1920 MHz Board Size 30x 40O mmxmm THD N Total Harmonic Distortion Noise Copyright Dr Robot Inc 2005 lh Or Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada www DrRobot com Tel 905 943 9572 Fax 905 943 9197 133 VII DURS5200 Ultrasonic Range Sensor Module VILL Introduction The DURS200 Ultrasonic Range Sensor Module can detect the range information from 4 cm to 340 cm It transmits an ultrasonic ping when instructed by your program and returns a signal when it receives an echo The
153. tgoing local port to change with each connection The port range is 50 000 to 59 999 Each subsequent connection increments the number by 1 it wraps back around to 50 000 Only use this automatic port increment feature to initiate a connection using TCP Set the port to a non zero value when the unit is in a passive mode or when using UDP instead of TCP Connect Mode Connect Mode defines the unit s connection method and its reaction to incoming connections over the network The current value is displayed in parentheses ConnectMode CO Enter Connect Mode options in hexadecimal notation Table IV 9 Connect Mode Options Connect Mode Option 7 6 5 4 3 2 1 O a Incoming Connection Never accept incoming 0 0 Accept with modem control_in Active O l Always Accept l l b Response Nothing quiet O Character response C connect l D disconnect N unreachable c Active Startup No active startup 0 0 O O With any character O O O 1 Copyright Dr Robot Inc 2005 102 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 With modem_control_in Active O O l 0 With a specific start character O O l l Manual connection O l O O Autostart O l O l Hostlist O 0 l O d Datagram Type Directed UDP l l 0 O e Modem Mode Full Verbose l l Without Echo O l l 0 Numeric modem resu
154. the PMS5005 for different applications through the UART serial interface The system can help robotic and Al researchers and developers focus on the high level logic and algorithm design and avoid the hassle of writing low level device drivers standard control schemes and troubleshooting the electronic circuits The ease of use powerful functionality and onboard intelligence can eliminate design risk streamline hardware and software development and significantly shorten the time to delivery while effectively reducing the cost Typical applications include humanoid robot legged robot wheel based robot robot head robot arm and robot hand 1 1 1 PMS5005 Robot Sensing Motion Controller Architecture As shown in Figure LL the PMS5005 features functionalities required by most of the robotic applications such as sensing motion control and data communication The PMS5005 contains the following features and capabilities UOMIPS 16 bit fix point hybrid DSP MCU 36K x 16 bit words flash 2 5K x 16 bit words SRAM Build in A D reference voltage monitoring Over heating sensor x2 System voltage monitoring x1 Watchdog timer x1 Full duplex UART x2 Embedded firmware for configurable closed loop position velocity various sensor data acquisition LCD graphic display wired and wireless communication Interfaces to MDM5253 DC motor driver module with position and current feedback x2 which includes o General purpose PWM DC moto
155. the values of the capacitors will change according to the distance between the plates The change of the value is then measured converted amplified and outputted Acceleration gag Se gt Figure VIII 1 Equivalent accelerometer model The acceleration sensing directions of the DTA510e are shown as Figure VIII 2 The output signals are basically consisting of static or low frequency data of tilt or orientation information and high frequency data of vibration or impact information Either analog or digital filter or both can be used to extract relevant data for specific applications Copyright Dr Robot Inc 2005 137 D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 x lt A goood V x lt Y Figure VIII 2 Acceleration sensing directions To measure the tilt or orientation of an object the DTA5102 should be mounted in such a way that the axes of sensitivity are parallel to the surface of the Earth In this configuration the relationship between the output voltage and the tilt angle of each axis is shown by the following equation our ZEROG V ae Seeded AG Where Vour Output voltage of each axis Vros Voltage at zero g AV AG Sensitivity G Earth s gravity 9 81 6 Tilting angle AV AG can be obtained by experiment by placing the sensor level so that the gravity vector is perpendicular to the measured sensor axis to
156. ting Setup Mode by means of Telnet and web pages Enable Enhanced Password Y The Y Yes option allows an extended security password of 16 characters for Copyright Dr Robot Inc 2005 113 DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 protecting Telnet access Disable Port 77FO Hex Port 77FO is a setting that allows a custom application to query or set the eleven WFS80eb configurable pins when they are functioning as general purpose I O GPIO Disable this capability if desired for security purposes Disable Port 77FOh 2 The default setting the N No option enables GPIO control The Y Yes option disables the GPIO control interface IV 5 8 Factory Defaults Select 7 Factory Defaults from the Change Setup menu to reset the unit s Channel 1 configuration Channel 2 configuration E mail settings and Expert settings to the factory default settings The server configuration settings for IP address gateway IP address and netmask remain unchanged The configurable pins settings also remain unchanged The specific settings that this option changes are listed below Channel 1 Configuration Baudrate 9600 I F Mode UC 1 stop bit no parity 8 bit RS 232C Port No 10001 Connect Mode CO always accept incoming connection no active connection startup Connect Mode Hostlis
157. tion If the l Character Response option is in effect the unit responds to an unrecognized command string that is otherwise formatted correctly with OKand takes no further action Copyright Dr Robot Inc 2005 106 D3 Dr Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 When an active connection is in effect the unit transfers data and does not process commands received from the serial interface When a connection is terminated or lost the unit reverts to command mode When an active connection is in effect the unit terminates the connection if it receives the following sequence from the attached serial device No serial data is received for one second The character sequence is received with no more than one second between each two characters No serial data is received for one second after the last character At this time the unit responds affirmatively per the selected echo response mode The character string ATH is received terminated with a carriage return The unit responds affirmatively according to the selected echo response mode and drops the network connection The serial interface reverts to accepting command strings If this sequence is not followed the unit remains in data transfer mode Table I1V 12 Modem Mode Commands Modem Mode Command Function ATDTx x x x Pppp or Makes a connection to an IP address x x x x anda
158. torCurrent4 55 short GetMotorCurrent5 56 short GetMotorCurrent6 57 short GetMotorCurrent short channel Description GetMotorCurrentX returns the sampling value of motor current sensor Syntax ival GetMotorCurrentl Current sensor 1 ival GetMotorCurrente Current sensor 2 ival GetMotorCurrent3 Current sensor 3 ival GetMotorCurrent4 Current sensor 4 ival GetMotorCurrent5 Current sensor 5 ival GetMotorCurrent6 Current sensor 6 ival GetMotorCurrent short channel Current sensor 1 2 3 4 5 0r 6 Parameter void for GetMotorCurrentX short channel 0 1 2 3 4 5 for current sensor 1 2 3 4 5 0r 6 Copyright Dr Robot Inc 2005 4o D3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Return value short ival Return data interpretation The return data is the raw value of the analog to digital converter indicating the motor current The data range is between O and 4095 The real current can be calculated with the following formula Motor Current A ival 3 375 200 4095 ival 728 111 1 10 Encoder 58 59 60 61 62 63 short GetEncoderDirl short GetEncoderDire short GetEncoderPulsel short GetEncoderPulsee short GetEncoderSpeedl short GetEncoderSpeede Description GetEncoderDirX returns 1 O or 1 to indicate the direct
159. ues and the A D sampling data values See also GetSensorPot 95 void DcMotorVelocityNonTimeCtr short channel short cmdValue Description DcMotorVelocityNonTimeCtr sends the velocity control command to the specified motion control channel on the Sensing and Motion Controller PMS5005 The command includes the target velocity but no time period specified to execute the command The motion controller will drive the motor to achieve the target velocity with maximum effort Copyright Dr Robot Inc 2005 Le Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Syntax DcMotorVelocityNonTimeCtr channel cmdValue Parameter short channel 0 1 2 3 4 or 5 short cmdValue Target velocity value Return value void Remarks l Motor will be enabled automatically by the system when this command is received 2 No velocity is available for motor channel using single potentiometer sensor 3 The unit of the velocity is Position change in A D sampling data second when using dual potentiometer sensor for rotational position measurement and pulse second when using quadrature encoder D Please refer to the description of GetSensorPot for data conversion between angular values and the A D sampling data values See also DcMotorVelocityTimeCtr GetSensorPot 96 void DcMotorPwmTimeCtr short channel short cmdValue short timePeriod Description DcM
160. ulated from the following equation Sensor output voltage ival 3 0 4095 V See also GetSensorBatteryAD1 3 73 short GetCustomDIN Description GetCustomDIN returns a value with lower 8 bits corresponding to the 8 channel custom digital inputs Syntax ival GetCustomDIN Parameter void Return value short ival Remarks Only lower 8 bit is valid and reflects the 8 input channel states The MSB of the lower byte represents channel 8 and LSB of the lower byte represents channel 1 74 void SetCustomDOUT short ival Description SetCustomDOUT sets the 8 channel custom digital outputs Syntax SetCustomDOUT ival Parameter short ival Return value void Remarks Only the lower 8 bit is valid and can change the corresponding outputs of the 8 channels The MSB of the lower byte represents channel 8 and LSB of the lower byte represents channel 1 IL Motion Control This section contains the APIs for the operations of DC motors and standard RC servo motors The digital controlled DC motor system is depicted as the following diagram Copyright Dr Robot Inc 2005 43 D3 or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Potentiometer Figure ILL Digital Controlled DC Motor System In the case of PID control the transfer function of the PID controller looks like as U s E s K K Si K S When using
161. uld connect to 129 1 2 3 and port 7 You may also use a different ending for the connection string For example C50 1 23 would connect you to 129 1 50 1 and port 23 Command String Table IV 1O Manual Connection Address Example Result if remote IP is 129 1 2 3 and remote port is 1234 C121 2 4 5 1 Complete override connection is started with host 121 2 4 5 port 1 c5 Connects to 129 1 2 5 port 1234 C28 10 le Connects to 129 1 28 10 port 12 CO 0 0 0 0 Connects to 129 1 28 10 port 12 enters Monitor Mode Autostart Automatic Connection The unit automatically attempts a connection to the remote IP address and port after booting up Copyright Dr Robot Inc 2005 D3 Dr Robot Hostlist If this option is set to True the device server scrolls through the host list until it connects to the first available device listed in the host list table Once it connects the unit stops further attempts If this connection fails the unit continues to scroll through the table until it is able to connect to the next available IP address in the host list Hostlist supports a minimum of 1 and a maximum of 12 entries Each entry contains the IP address and the port number The hostlist is disabled for Manual Mode and for Modem Mode The unit will not accept a data connection from a remote device when the hostlist option is enabled Figure IV 6 Hostlist Example Baudrate 9600 I F Mode 40
162. umanAlarm1 human alarm ival GetSensorHumanAlarme 2 human alarm Parameter void Return value short ival Return data interpretation The return data is the raw value of the analog to digital converter indicating the amplified x 5 times output voltage of the sensor device The data range is between O and 4095 When there is no human present the module output voltage is about 1 5 V and return value is about 2047 Remarks To detect human presence the application should compare the difference of two samples to detect the change from absence to presence and also compare the sample data to a user defined threshold to determine whether to report an alarm or not The threshold determines the sensitivity of sensor The higher the threshold is the lower the sensitivity will be 27 short GetSensorHumanMotionl 28 short GetSensorHumanMotione Description GetSensorHumanMotion returns the current human motion value from DHM5150 Human Motion Sensor Module Please refer to the Chapter IV VIII DHM5150 Page 106 for detailed information Syntax ival GetSensorHumanMotionl Human direction data 1 ival GetSensorHumanMotione Human direction data 2 Parameter void Return value short _ ival Return data interpretation The return data is the un amplified raw value of the analog to digital converter indicating the output voltage of the sensor device The data range is between O an
163. und wave td is equal to two times of the traveling time between the sensor to the object transmitting and echoing The time period between two measurements should be no less than 20 msec The minimum distance that the DUR5200 can measure is 4 cm This means that if the range is less than U cm it will be reported as 4 cm D AH pe nr E Ultrasound td s M Figure VII 1 Basic Operation Timing The distance to object in meter can be obtained as follows Distance to object in meter td in second v in meter second 2 VII 3 Connections V1II 3 1 Board Structure Figure VII 1 illustrates the structure of the board CH Figure VILL DUR5200 Structure VII 3 2 Connector Description The DUR5200 can be connected to the controller system via a 4 pin 2 54 mm pitch single row connector Table VII l Ultrasonic Range Sensor Connectors Pin Name Function l Vcc Positive power source 5 V DC d RS Ultrasonic echo receiving signal active rising edge output 3 TE Ultrasonic transmitting enable active high input Copyright Dr Robot Inc 2005 135 3 Or Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 4 GND Power supply ground VIIL Specifications Table VII 2 DUR5200 Specification Parameter Con
164. using the PMS5005 Note that only a single 7 2V power source is used to supply power to the system and not all peripheral modules are connected to the PMS5005 in this figure Copyright Dr Robot Inc 2005 71 Wi d Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Figure I 4 Sample Connection of WiRobot PMS5005 with Different Peripheral Modules 1 2 8 PMS5005 Connections The definitions of the connector signals of the power supplies and the supported PMS5005 peripheral modules are listed in the following tables Table 1 6 Connections of the Power Jacks and Terminals Power Connection Power Jack Jl Je J3 Screw Terminal PSY PDM PSM Positive Power Center Pin l Source Power Supply Ground Circle d Table I 7 Upper Reach Communication Port BTOOTH Pin Name Signal Description l VCC 3 33 V d RXD Data receiving 3 TXD Data transmitting d RTS Request to send 5 CTS Clear to send 6 GND Power supply ground 7 COMRST Reserved 8 BTIN Reserved Table 1 8 Lower Reach Communication Port SCI Pin Name Signal Description l VCC 3 33 V d RXD Data receiving 3 TXD Data transmitting d GND Power supply ground Copyright Dr Robot Inc 2005 72 DOr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Table 1 9 Ultrasonic Range Sen
165. valent Privacy WEP encryption standard as an additional means of security To modify WLAN and WEP settings select 4 WLAN from the Change Setup menu Enable WLAN The current value is displayed in parentheses By default WLAN is enabled on WFS80eb Enable WLAN Y Find Network Name Enter the name of the network in which the WFS8Oeb unit resides The current value is displayed in parentheses Find network name DRI_IBSS Enable Ad Hoc Network Creation The current value is displayed in parentheses By default Ad Hoc network creation is enabled on WFS80eb Enable Ad Hoc network creation Y Name DRI_IBSS Country O US 1 FR 2 JP 3 Other O Channel 11 Enter Y to enable Ad Hoc network creation and display configurable parameters l At the Name prompt enter the network name as text and hit Enter The default name displays in parentheses 2 Select a Country by entering O 1 or 3 By default O United States is selected Press Enter 3 At the Channel prompt enter the WFS802b s channel setting Copyright Dr Robot Inc 2005 UI Zeg Dr bont e RES 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 Security As an additional security measure enable WEP on the WFS802b The current value is displayed in parentheses By default WEP is disabled on WFS802b Security O none 1 WEP 0 Data Rate WFS80ceb p
166. value of 16363 means 50 duty cycle putting motor in Stop stage Any value in between 16364 32767 will put the motor to turn clockwise facing the front side of the motor and any value in between O 16362 will put the motor to turn counter clockwise Copyright Dr Robot Inc 2005 55 Boreas DR ROI o RES 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 LL When some motors are not under controlled their command values should be set as 32768 Ox8000 That means NO CONTROL See also DcMotorPwmNonTimeCtr ll 2 2 RC Servo Motor Control 104 void EnableServo short channel 105 void DisableServo short channel Description EnableServo enables the specified servo motor control channel DisableServo disables the specified servo motor control channel Syntax EnableServo channel DisableServo channel Parameter short channel 0 1 2 3 4 0 5 Return value void Remarks All servo motor channels are disabled initially at system startup They need to be enabled explicitly before use 106 void SetServoTrajectoryPlan short channel short TrajPlanMthod Description This function is obsolete 107 void ServoTimeCtr short channel short cmdValue short timePeriods Description ServoTimeCtr sends the position control command to the specified servo motor control channel on the Sensing and Motion Controller PMS5005 The command includes the target pos
167. vice driver will take care of the range data acquisition Users can simply call a function offered by the WiRobot SDK software on PC requires Microsoft platform or send a data request packet platform independent to obtain the data Note that DUR5200 can measure from 4 to 255 cm in WiRobot system since PMS5005 only uses one bute to represent the distance The sound wave propagation speed in the air depends on the temperature If you also got the temperature sensor module in your WiRobot system you can measure the distance more precisely by adding up the temperature compensation The sound wave propagation speed v with temperature compensation can be calculated by the following formula v 331 5 0 6 T m sec where T is the air temperature C VII 2 3 Running as a General Purpose Ultrasonic Range Sensor Module Copyright Dr Robot Inc 2005 134 D3 Or Robot e 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 When using the DUR5200 with the third party controller the power supply and the input output signals should be connected properly please refer to Section VII 3 Connections The basic operation is illustrated in Figure VILL Range measurement starts from the rising edge of TE Then the controller set TE to low logic O after tl 250 usec The controller should measure the time interval td from the rising edge of TE to the first rising edge of RS which is the returned so
168. wWord UWord16 HighWord Description SetinfraredControlOutput sends two 16 bit words infrared communication output data to the Sensing and Motion Controller PMS5005 The PMS5005 will then send the data out through the infrared Remote Controller Module MIR5500 In the case of being used for infrared remote control the output data serves as the remote control command Syntax SetInfraredControlOutput LowWord HighWord Parameter UWord16 LowWord 1 word UWordl6 HighWord 2 word Return value void Remarks l In infrared communication application the data format and the interpretation can be defined by the user at the application level 2 In infrared remote control application the control command should be compatible to the device to which the command is sent 3 This API function is under development and will be available shortly ILL Battery Voltage Monitors 39 short GetSensorBatteryAD1 UO short GetSensorBatteryADe 41 short GetSensorBatteryAD3 Description Copyright Dr Robot Inc 2005 37 DS Dr Robot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 GetSensorBatteryADX returns the current value of the relevant power supply voltage if the battery voltage monitor is enabled default or returns the relevant custom A D inputs if the custom A D input is enabled which is configured by the jumpers on PMS5005 Please refer to Chapter IN PMS5005
169. well as a guide in helping users to understand how to use this system The developers should have basic knowledge in Microsoft Visual C or VB Detail programming information can be found in Chapter III L Feedback If you find any problems in this document please send us your feedback to support drrobot com Copyright Dr Robot Inc 2005 5 YA Dr Robot www DrRobot com 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 ll WiRobot Overview WiRobot is an integrated electronic and software robotic system extended from Dr Robot s comprehensive humanoid robot which has demonstrated its interactive capabilities in the public and the media Each WiRobot development system is designed to provide a user friendly programming environment for hobbyists students in robotic areas and researchers to develop their robot programs and applications at an affordable cost The power of WiRobot mobile robot system comes from the Dr Robot s Distributed Computation Robotic Architecture and System DIRAS technology which offloads most of the computation and storage intensive tasks to a home PC Through a digital wireless connection supporting over 100 kbps data communication rate user programs running on PC are virtually connected directly to the WiRobot development system Data such as image audio sensor information and etc are available to the user through a set of ActiveX control compon
170. xample if the MAC address is OO 20 UA 12 34 56 then the default DHCP name is C123456 Custom DHCP Name Create your own DHCP name If using an IP address of 0 0 0 0 then the last option in Server configuration is Change DHCP device name This option allows you to change the DHCP name to an alphanumeric name LTX in the example Change DHCP device name not set N Enter new DHCP device name LTX Numeric DHCP Name Change the DHCP name by specifying the last octet of the IP address When using this method the DHCP name is LTXYY where YY is the last octet of the IP address If the IP address specified is 0 0 0 12 then the DHCP name is LTX1e This method only works with 2 digit numbers 0 99 IV 5 3 Channel 1 and Channel 2 Configuration Select option 1 Channel 1 or 2 Channel 2 from the Change Setup menu to define how the serial port responds to network and serial communications The following sections describe the configurable parameters within the Channel configuration menu Figure IV 5 Serial and Telnet Port Parameters Baudrate 1152900 I F Mode lt 4C gt Flow 68 gt Port No 14689 ConnectMode CCH3 7 Remote IP Address CAAA lt 0 gt Remote Port lt 0 DisConnMode gt PlushMode lt gt DisConnTime 6 gt SendChar 1 gt BendChar 2 gt Baudrate The unit and attached serial device such as a modem must agree on a speed or baud rate to use fo
171. z ech PM Fumare Upgrade User Manual pdt Connected 0 05 16 ato detet egen Tenor ae jam Kaes fore ecto Figure LO Status after Turning on the PMS5005 ll Within 5 seconds start counting when you turn on the PMS5005 you should click the Open button on the Hyper terminal popup window Firmware download will then start If you fail to start the download within this period of time the original firmware on PMS5005 will automatically start You have to turn off the PMS5005 and repeat the download procedure again from Step 2 le When the download is started hex numbers will appear on the screen if you have turned on the echo option as described in step 6 Otherwise you will not see anything but the download is still running When the firmware download is completed takes about 20 60 seconds depending on the speed of your PC you will see the Application Started keyword as shown in Figure 1 10 no matter the echo option is turned on or off The new downloaded firmware will automatically start in few seconds and you should see some un recognized characters Copyright Dr Robot Inc 2005 78 Jo DrRobot 25 Valleywood Dr Unit 20 Markham ON L3R 5L9 Canada Tel 905 943 9572 Fax 905 943 9197 upgrade HyperTerminal Fio Edt View Coll Tromifer Hep Dei ez cls el DHUDUOODHOODDUDOOD DD HODDDOOODDDEIODDDOODDHD UDO DO SIS19929099089999090909099900999099900990909990909090990909009099909909090
172. zent The Heart of Robot WiRobot DRK6080 8080 USER MANUAL Ge WiFi 802 11 Wireless Mobile System Dr Robot Version 1 0 9 JUNE 2006 Table of Contents Chapter WiRobot Getting Start Guide 0ssaeanenna nana nana nana an anane na nenen a nean n naen anane anan na nenen eneenee 4 l elicit e E E cil cbueiveasezen sh desestdeedi each cesttlattacatsquedcendtdaunssbnadaanivedbvanabiewcessatinnts 5 1 1 TEE 5 L IST SAE E A AN NE AN TAn E NK A RA A E BAN KEN NA KAN E 5 IL WiRobot Overview 6 lla Software Components isis EE dec ee ee 7 IL Software WiRobot SDK Installation wv EE ANANA NRANG RE NANA NR N NENGKER NANGEN 8 ILL System R dgUir ments sasasi ban naa aan EN aeeai aa ipa Dan Nn LET kan Aa ag ANGEN KNA 8 IL WiRobot System Installation 554515505552 558 nga kaanan KANE Nn aeaa KAEN DEE Ken Ken naa ka aee E naas ga 8 IV Connecting to WiRObDOt Gustem isisa anaa raaa iaa raK nara ADAE AOAIE A AE Aani ADEA ESENE 9 IV 1 WiFi Wireless Connecting sasen esa aaa eaaa aaa eaaa aaa eaaa aaa aana aana aan E ANE E RENANE ANANE ERAT A NANANG EnEn antenen nenene 9 We Serial Cable Conne6 ting aa raa an a rang EEN EN AG NA kn GN eaaa Ng EVEN 10 V Building PC Applications Using SDK cecsscesescsesssseeseeeesesseseseeseseeeeseseesseecaesesasasneeaenenseaeeeneeetateeeaeaes 12 V 1 Using WiRobot SDK Component ActiveX Control asasaran asana asana anane n anana anana anana nana anana 12 V 2 Sample Application 1 W

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